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Finite-time consensus of second-order multi-agent systems with time-delay and connectivity preservation*

This paper investigates finite-time consensus problems of second-order multi-agent systems with connectivity preservation, where each agent exists time-delay and has a limited sensing range. First, Artstein’s transformation is introduced to solve the finite-time stability problem of the delay system. Then, by utilizing potential function, a finite-time consensus protocol is constructed to preserve the initial interaction topology. Rigorous proof is performed through finite-time stability of homogeneous systems and Lyapunov stability theory. Finally, a numerical simulation of unmanned aerial vehicle is given to verify the effectiveness of main results.