Abstract—This paper proposes a new finite-time consensus tracking protocol for reaching the fast finite-time consensus tracking. The Lyapunov function method, algebra graph theory, and homogeneity with dilation are employed to obtain the convergence criteria. Numerical simulations show that compared with the traditional finite-time consensus tracking protocols, the proposed protocol can accelerate the convergence speed of achieving the finite-time consensus tracking.

Finite-time cooperative tracking control for a class of second-order nonlinear multi-agent systems