Reaching consensus at a preset time: Double-integrator dynamics case

In the paper, a novel finite-time consensus framework for multi-agent systems with double-integrator dynamics is established. In such a framework, the multi-agent team can achieve consensus at any preset time. In order to reach this goal, linear feedback control protocols with time-varying gains are introduced. The proposed time-varying control protocols can solve consensus problems at the preset time if the undirected communication topology is connected. Numerical simulations are presented to illustrate the effectiveness of the obtained theoretical results.