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We investigate the finite-time consensus problem for heterogeneous multi-agent systems composed of first-order and second-order agents. A novel continuous nonlinear distributed consensus protocol is constructed, and finite-time consensus criteria are obtained for the heterogeneous multi-agent systems. Compared with the existing results, the stationary and kinetic consensuses of the heterogeneous multi-agent systems can be achieved in a finite time respectively. Moreover, the leader can be a first-order or a second-order integrator agent. Finally, some simulation examples are employed to verify the efficiency of the theoretical results.

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This paper investigates the finite-time consensus problem of multi-agent systems with single and double integrator dynamics, respectively. Some novel nonlinear protocols are constructed for first-order and second-order leader-follower multi-agent systems, respectively. Based on the finite-time control technique, the graph theory and Lyapunov direct method, some theoretical results are proposed to ensure that the states of all the follower agents can converge to its leader agent s state in finite time. Finally, some simulation results are presented to illustrate the effectiveness of our theoretical results.

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