Finite-time consensus for multi-agent systems without velocity measurements and with input constraints

In this paper, we study the finite-time consensus problem for multi-agent systems with double-integrator dynamics. Considering the case that the velocity is not available for feedback and the control inputs are required to be a priori bounded, the velocity-free consensus algorithm is proposed, in which, the graph theory, homogeneous method and Lyapunov stability theory are applied. The proposed velocity-free algorithm guarantees that the states of all agents can reach consensus in finite time and satisfies input saturation requirement. Numerical simulation is provided to validate the effectiveness of the proposed method.