Finite-time consensus control for second-order multi-agent systems with output constraint

This paper discusses a leaderless finite-time consensus problem for second-order multi-agent systems with output constraint under uncertain time-varying control coefficients and unknown nonlinear perturbations. Based on the Barrier Lyapunov function and the technique of adding one power integrators, the finite-time consensus controller is clearly constructed to guarantee finite-time consensus for second-order multi-agent systems while the output constraint is not violated in a range. The effectiveness of the design method is finally validated by a numerical example.