Finite-time consensus problem of multi-agent systems over switching jointly connected topologies

Finite-time consensus problem of multi-agent systems over switching jointly connected topologies is studied in this paper. Based on the graph theory, homogeneous property and LaSalle's invariance principle(LIP), some sufficient conditions are derived for the given consensus protocols even though the communication links between the agents dynamically change over time and the corresponding networks might be unconnected. Some examples and simulation results are given to illustrate the effectiveness of the obtained theoretical results.