Finite-Time Synchronization of a Class of Second-Order Nonlinear Multi-Agent Systems Using Output Feedback Control

This paper considers the problem of finite-time synchronization for a class of second-order nonlinear multi-agent systems with a leader-follower architecture. By using the finite-time control technique and homogenous systems theory, a finite-time state feedback controller is first proposed. Then to address the lack of velocity measurement, a finite-time convergent observer is constructed to estimate the unknown velocity information in a finite time. Finally, an observer-based finite-time output feedback controller is developed. Rigorous proof shows that the systems output can reach synchronization in a finite time and the final consensus states are the leader's states. In addition, for some special secondorder multi-agent systems, a bounded finite-time output feedback controller can also be designed.