Nonlinear finite-time and fixed-time bipartite consensus tracking of multi-agent systems

Abstract

ABSTRACT This paper deals with the finite-time and fixed-time bipartite consensus tracking (FFBCT) problems for multi-agent systems (MASs) , in which both cooperative and competition exist. Using Lyapunov stability methods, distributed nonlinear protocols are provided to ensure all agents reach agreement. Its absolute value is the same but it might be different in direction. Besides, the second protocol can make the system reach bipartite consensus in fixed time regardless of the initial state of agents. Moreover, boundaries for settling times are estimated. Some numerical examples are finally presented to prove the validity of our designs.