Finite-time rotating consensus tracking control for second-order multi-agent systems

In this paper, finite-time rotating consensus tracking control for second-order multi-agent systems without relative velocity measurements is considered. By combining the graph theory, Lyapunov theory and the homogeneity with dilation, a distributed control protocol using only relative position is proposed to solve the finite-time rotating consensus tracking problem. It is shown that followers can track the leader in finite-time and move around a common point in a circular orbit. Finally, a numerical simulation example is provided to illustrate the effectiveness of the theoretical result.