Discrete-time finite-time consensus algorithm for first-order multi-agent systems

A new consensus problem of first-order leaderless multi-agent systems with external disturbance is presented. The proposed consensus algorithm, based on sampled data, combines data-sample control with finite-time theory. The new discrete-time finite-time (DTFT) consensus algorithm enables the consensus errors of agents converge to a small region within a limited time due to the robustness and fast convergence ability of finite time theory. Simulation results verify the effectiveness of the proposed method.