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This paper presents a finite-time heterogeneous cyclic pursuit scheme thatensures consensus among agents modelled as integrators. It is shown that forthe proposed sliding mode control, even when the gains corresponding to eachagent are non-identical, consensus results within a finite-time provided allthe gains are positive. An algorithm is presented to compute the consensusvalue and consensus time for a given set of gains and initial states of theagents. The set of values where consensus can occur, by varying the gains, hasbeen derived and a second algorithm aids in determining the gains that enableconsensus at any point in the aforementioned set, within a given finite-time.As an application, the finite-time consensus in line-of-sight (LOS) rates, overa cycle digraph, for a group of interceptors is shown to be effective inensuring co-operative collision-free interception of a target, for bothkinematic and realistic models of the interceptors. Simulations vindicate thetheoretical results.

Finite-time Heterogeneous Cyclic Pursuit with Application to Target Interception