Adaptive Finite-Time Consensus for Multi-Agent Systems with Input Constraints

This paper studies the finite-time consensus problem for leader-following nonlinear multi-agent systems with input constraints. Under the condition that the coupling weights are unknown, finite-time control protocol combined with adaptive feedback controller is proposed. Based on homogeneous theory, it is proved that the states of followers can converge to those of leader in finite time through local interaction under undirected graph. Finally, two numerical examples are presented to verify the effectiveness of theoretical results.