Finite-time Flocking of Multi-agent System with Input Saturation

In this paper a finite-time flocking of multi-agent system with input saturation is investigated. By introducing a new control protocol, it is show that speed and position of agents with double-integrator dynamics converge to the speed and position of leader in finite time. It is assumed that the graph between the agents is connected and that at least one agent is informed of the leader speed and position. It is shown that the agents do not collide under this control protocol and the graph remains connected. Further, conditions are provided by which the control signal level remains less than the limiting saturation range.