Due to the complexity of communication topologies, only a few works addressed the issues
of finite‐time convergence for multi‐agent systems with directed switching topologies, whose
analyses might be unclear and some assumptions seem to be a bit strong. In this study, finite‐
time consensus of continuous‐time nonconvex‐constrained multi‐agent systems with
directed dynamically changing topologies is addressed. Firstly, a distributed finite‐time
consensus algorithm is introduced for continuous‐time multi‐agent systems. It is proved that …

Fast finite-time consensus problem of multi-agent systems under diverse topologies is
investigated by a hybrid linear and fractional power protocol, where the linear item improves
convergence performance when the state is far away from the equilibrium, and the fractional
power one accelerates convergence process when the state is close to the equilibrium.
Then a faster convergent rate is achieved in comparison with the individual asymptotic or
finite-time consensus protocol. The leaderless multi-agent systems are firstly studied under …