Consensus of Single-Integrator Multi-Agent Systems at a Preset Time

This paper studies the preset time consensus problem of singintegrator multi-agent systems for reaching the desired state in both undirected and directed communication networks. Two linear consensus protocols with time-varying gain are proposed. In fixed undirected networks, if the undirected topology is connected, the proposed protocol can achieve the consensus at the preset time even if only a portion of agents can obtain the desired state. In fixed directed networks, if the directed topology has a directed spanning tree, the proposed protocol can solve the consensus problem at a given preset time. Finally, numerical simulation results are presented to demonstrate the effectiveness of the theoretical results.