Finite-time consensus of second-order nonlinear multi-agent systems with impulsive effects

This paper addresses finite-time consensus of second-order nonlinear multi-agent systems with impulsive effects. A control protocol contains neighborhood and self state feedback without sign function is proposed for finite-time consensus. By employing Lyapunov stability theory, a new less conservative estimation of energy function is obtained, by solving which, it gets both finite-time consensus and exponential consensus criteria with or without impulsive effects. Moreover, three impulsive types: stability, divergence and no effects, are divided based on strengths of impulse and controller. Examples are provided to demonstrate the correctness of theoretical results and the effectiveness of the finite-time protocol.