Decentralized Finite Time Consensus for Discrete-time High-order Linear Multi-agent System

The consensus problem for the multi-agent system with high-order linear dynamics is considered, where the state information is exchanged under a time-invariant topology. The formulation of a final consensus value is given. Then a fully decentralized consensus algorithm is proposed, which allows each agent to reach the consensus value using only finite number of steps of its past state information. The numerical simulation verifies the effectiveness of the algorithm.