Free‐will arbitrary time consensus protocols with diffusive coupling

In this article, free-will arbitrary time consensus protocols are proposed for multi-agent systems with single- and double- (possibly higher-order) integrator dynamics, respectively, switching) connected interaction graphs bounded matched disturbances. Under the laws, an average is achieved in a prespecified regardless of initial conditions or any other design parameters. Further, laws case no disturbances smooth, they distributed sense that information only communicated locally between neighboring agents. Finally, simulation results also provided to illustrate theoretical and, application formation control mobile agents presented.