Research Article

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

Figure 3

Simulation results of control protocol (27) with (39) for the double-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 velocities of all the eight agents.
(a)
(b)
(c)
(d)