Adaptive Finite-Time Bipartite Consensus for Nonlinear Coopetition Multi-agent Systems with Unknown External Disturbances

摘要

This paper studies the adaptive finite-time bipartite consensus problem for second-order nonlinear coopetition multi-agent systems subject to external disturbances. The novel continuous distributed adaptive protocols with update laws are proposed. By using the finite-time Lyapunov stable theory, the rigorous finite-time stable proofs and accurate expression of convergent regions of bipartite steady-state errors are given. An example is given to demonstrate the effectiveness of the presented method.