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A new nonlinear protocol is proposed for state consensus of multi-agent systems in this paper. It is shown that this protocol can provide faster convergence rate than the typical linear protocol, presented by Olfati-Saber and Murray, and furthermore guarantees the states of agents reach a consensus in finite time, provided that the interaction topology, represented by a directed graph, has a spanning tree.
Xiao et al. (Sun,) studied this question.