Finite time consensus for leader following multiagent system with distributed observer design

This paper is concerned with a finite time consensus for a multi-agent system designed by distributed observer and pinning control technique without assuming that the interaction graph is connected. Distributed observers are designed for the second-order follower-agents, under the common assumption that the velocity of the active leader cannot be measured in real time. Some dynamic neighbor-based rules and protocols, consisting of distributed controllers and observers for the autonomous agents, are developed to keep updating the information of the leader. Also it is proved that each agent can follow the active leader using common Lyapunov function (CLF). Finally, a numerical example is given for illustration.