Finite-time Output Consensus for a Class of Heterogeneous Linear Multi-agent Systems via an Output Regulation Approach

This paper investigates the finite-time output consensus problem of heterogeneous multiagent systems in both leaderless and leader-following cases. Different from the traditional asymptotic convergence consensus algorithms, a finite-time dynamic compensator is proposed to generate the reference output trajectory in finite time. Meanwhile, we extend the previous finite-time tracking algorithm for single agent to multi-agent systems in the output regulation controllers. The above two parts are combined to achieve the finite-time output consensus of heterogeneous multi-agent systems. Finally, the effectiveness of the proposed results is demonstrated by two numerical examples.