Distributed Finite-time Leader-Following Consensus of Second-Order Nonlinear Multi-agent Systems under Undirected and Directed Topology

In this paper, the distributed finite-time consensus of leader-following is investigated for a class of second-order multi-agent systems with undirected and directed topology. A new distributed control protocol is proposed to solve the consensus problem for nonlinear multi-agent systems. The control protocol is designed via applying the system of Laplacian matrix and the nonlinear constants. It is proven that the practical leader-following finite-time consensus can be achieved by the proposed protocol under undirected and directed topologies with the algebraic graph theory, matrix theory and Lyapunov control approach. Finally, two numerical simulation examples are employed to illustrate the effectiveness of our theoretical results.