Finite-time consensus control of heterogeneous nonlinear MASs with uncertainties bounded by positive functions.

Abstract In this paper, we investigate the finite-time consensus control problem for heterogeneous nonlinear multi-agent systems (MASs) subject to nonlinear uncertainties. In the case of a connected and undirected communication graph, a new finite-time consensus control algorithm for leaderless MASs is presented. The designed consensus protocol can guarantee that the steady state error of every two agents converge to zero in a finite-time. Compared with some existing studies, in which the upper bounds of uncertainties are assumed to be some positive constants, the upper bound assumption conditions of uncertainties are relaxed to be some positive functions. Finally, a numerical example and a practical model are presented to demonstrate the effectiveness of the proposed consensus control method. [ABSTRACT FROM AUTHOR]