Leaderless finite-time consensus for second-order Lipschitz nonlinear multi-agent systems with settling time estimation

The leaderless finite-time consensus for second-order Lipschitz nonlinear multi-agent systems with partial-state coupling is investigated, where the communication network is weighted undirected and weighted. A new distributed control algorithm is proposed by designing the appropriate control parameters in the undirected connected communication topology. By using the algebraic graph theory, matrix theory, power integrator technique, and Lyapunov control approach, the leaderless finite-time consensus is achieved for the second-order Lipschitz nonlinear multi-agent systems. The main contribution of this paper is that, the settling time can be estimated by computing the value of the Lyapunov function at the initial point. Finally, the effectiveness of the results is illustrated by some numerical simulations.