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

This paper studies the finite-time consensus problem of heterogeneous multi-agent systems composed of first-order and second-order integrator agents. By combining the homogeneous domination method with the adding a power integrator method, we propose two classes of consensus protocols with and without velocity measurements. First, we consider the protocol with velocity measurements and prove that it can solve the finite-time consensus under a strongly connected graph and leader-following network, respectively. Second, we consider the finite-time consensus problem of heterogeneous multi-agent systems, for which the second-order integrator agents cannot obtain the velocity measurements for feedback. Finally, some examples are provided to illustrate the effectiveness of the theoretical results.