Finite-time consensus tracking for harmonic oscillators using both state feedback control and output feedback control

Summary This paper investigates the distributed finite-time consensus-tracking problem for coupled harmonic oscillators. The objective is to guarantee a team of followers modeled by harmonic oscillators to track a dynamic virtual leader in finite time. Only a subset of followers can access the information of the virtual leader, and the interactions between followers are assumed to be local. We consider two cases: (i) The followers can obtain the relative states between their neighbors and their own; and (ii) Only relative outputs between neighboring agents are available. In the former case, a distributed consensus protocol is adopted to achieve the finite-time consensus tracking. In the latter case, we propose a novel observer-based dynamic protocol to guarantee the consensus tracking in finite time. Simulation examples are finally presented to verify the theoretical analysis.