Finite-time consensus control of nonlinear mechanical systems with input saturation

In this paper we consider finite-time consensus control for a group of second-order nonlinear mechanical systems. Distributed controllers are designed such that consensus is reached while all the agents in the multi-agent system are suffered from input saturation. We assume that the velocities of the agents are not measurable, thus an observer is designed for each of the agents. It is shown that the states of the mechanical systems can reach a consensus within finite time under input saturation. Finally simulation results illustrate and verify the effectiveness of the proposed schemes.