Finite-time consensus of heterogeneous multi-agent systems with and without velocity measurements

We investigate the finite-time consensus problem for 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 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.