Finite-time consensus of multi-agent systems with double integrator dynamics using only relative position measurements

In this paper, we study the finite time consensus problem for multi-agent systems with double-integrator dynamics under an undirected graph. Both the leaderless consensus problem and the coordinated tracking problem with a dynamic leader are considered without velocity measurements. Based on an observer for each agent, we present two distributed control protocols for the two cases which can solve the consensus problem in finite time. Simulation examples for the two cases are provided to illustrate the effectiveness of the proposed algorithms.