Abstract We investigate the finite-time consensus problem for the 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 the 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.
Fund: Project supported by the National Basic Research Program of China (Grant No. 2010CB731800), the National Natural Science Foundation of China (Grant Nos. 60934003 and 61074065), and the National Science Foundation of Hebei Province, China (Grant Nos. F2012203119 and 1208085MF111).
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