Finite-time scaled consensus tracking of a class of high-order nonlinear multi-agent systems with unstable linearization.

In this paper, we consider the finite-time scaled consensus tracking of a class of high-order nonlinear multiagent systems(MASs)who owns unstable modes in its Jacobian linearized system. The presence of unstable linearization makes the high-order MASs in question essentially different from those in the existing works. Under a directed interaction topology, to overcome the difficulties caused by the asymmetry property of Laplacian matrix, the finite-time scaled consensus control scheme is developed by the modified addition of a power integrator method. Based on finite-time Lyapunov stability theorem and algebra graph theory, for high-order MASs with unstable linearization even in the presence of non-lipschitz nonlinear dynamic, all system states are bounded and the output tracking errors are finite-time uniformly ultimately bounded(FUUB). Finally, a numerical example is given to demonstrate the effectiveness of the theoretical results. [ABSTRACT FROM AUTHOR]