Finite-time Leaderless Consensus of Second-order Multi-agent Systems With Velocity and Input Constraints

This paper considers a method for the finite-time consensus control of second-order multi-agent systems in leaderless case by both velocity and input constraints. A new class of distributed consensus controllers are proposed, which shows that under the appropriate initial speed conditions, the velocity and input constraints can be met in the consensus process while achieving finite-time consensus. Then, some simulation results are proposed to verify the effectiveness of the controller.