Finite-Time Consensus Control for the Second-Order Multi-agent Systems with Communication Delays

摘要

This paper is discussed the finite-time consensus control problem with communication delays for the second-order multi-agent systems. In order to achieve the consensus of systems with communication delays in finite time, a novel control algorithm with consensus control gain matrix is designed, which is based on the relative position and velocity error sates. By utilizing the stability theory of functional differential equations and the finite-time Lyapunov stability theorem, finite-time consensus of the second-order systems is realized. Furthermore, the allowable upper bound of the communication delays for the multi-agent systems is obtained. Finally, simulation examples verify the correctness and validity of the theoretical results.