Finite-Time Consensus of Networked Multiagent Systems with Time-Varying Linear Control Protocols

Figure 2

Simulation results of control protocol (11) for the single-integrator dynamics case when . ((a) and (b)) The case with ; ((c) and (d)) the case with ; ((a) and (c)) the states of all the eight agents; ((b) and (d)) the inputs of all the eight agents.

(a)

(b)

(c)

(d)