Finite-time Average Consensus Protocol for Multi-agent Systems with a Fast Convergence Rate

A novel protocol that can achieve an average state consensus for multi-agent systems in finite time is presented in this paper.Based on the Lyapunov stability theory, it is proved that the system stability can be guaranteed.Moreover, the upper bound of convergence time is obtained.Through the study and comparison with the control input of the typical finite-time consensus protocol, it obtains that the protocol can improve the convergence rate effectively.Lastly, simulations are conducted to verify the effectiveness of the results.