The objective of this paper is to design the protocols with a final consensus value and settling time estimations for finite-time consensus of multiagent systems. A couple of new edge-based protocols are developed for multiple second-order nonlinear agents under bounded or Lipschitz-type nonlinear functions, respectively. The final consensus value of the multiagent system is obtained as an average expression. Further, to obtain the estimation of the finite settling time, a special Lyapunov function is constructed. Through the construction processes, both the final consensus value and the settling time are obtained. Finally, as applications, a finite-time formation controller based on the first protocol is designed for multiple mini-spacecraft, verified by simulations.

中文翻译：

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基于边缘的有限时间协议分析，具有最终共识值和建立时间估计

本文的目的是为多主体系统的有限时间共识设计具有最终共识值的协议和建立时间估计。分别针对有界或Lipschitz型非线性函数下的多个二阶非线性主体开发了几个新的基于边缘的协议。获得多代理系统的最终共识值作为平均值。此外，为了获得有限建立时间的估计，构造了一个特殊的Lyapunov函数。通过构建过程，可以获得最终的共识值和建立时间。最后，作为应用，基于第一协议的有限时间编队控制器被设计用于多个微型航天器，并通过仿真进行了验证。