Finite-time consensus for second-order systems with unknown inherent nonlinear dynamics under an undirected switching graph

This paper studies finite-time consensus for networked multi-agent systems with second-order dynamics in the presence of unknown inherent nonlinear dynamics under an undirected switching interaction graph. In particular, all agents are assumed to share a common sensing range. More precisely, each agent can only communicate with other agents who are within the sensing range of itself. We propose a nonlinear distributed consensus algorithm and present sufficient conditions to guarantee that consensus can be achieved in finite time.