A new class of finite time nonlinear consensus protocol with short convergence time for networks of dynamic agent

In this paper, finite time state consensus problem for networks of dynamic agent is discussed, a new protocol guaranteeing the state of multi-agent reaching an consensus in finite time is proposed. The protocol contains both a nonlinear term and a linear term, the nonlinear term can guarantee that the consensus can be realized in finite time, and the linear term can reduce the convergence time. The upper bound of convergence time is obtained, the relationship among the convergence time with the communication topology and the initial state is analyzed. Finally, several simulations are presented to show the effectiveness of the results.