Finite-time consensus for second-order multi-agent networks with inherent nonlinear dynamics under an undirected fixed graph

This paper studies finite-time consensus for networked multi-agent systems with second-order dynamics in the presence of inherent nonlinear dynamics under an undirected fixed interaction graph. We propose a nonlinear distributed consensus algorithm and then present sufficient conditions such that finite-time consensus can be achieved. By employing a similar stability analysis, it is expected that finite-time consensus can be achieved with/without inherent nonlinear dynamics when the initial undirected interaction graph is connected and the difference between the Laplacian matrix for any t > 0 and the Laplacian matrix at t = 0 is small enough.