Finite-time consensus of networked nonlinear systems under directed graph

In this paper, we study the finite-time consensus problem of networked nonlinear systems under directed fixed graph. A nonlinear system is considered as a controlled first-order differential equation with/without drift term commonly used to model autonomous systems. For multi-system formation under directed fixed graph, a protocol is proposed to solve consensus problems in finite time. Guided by finite-time stability techniques and the graph theory, our protocol is applied for multi-system in interaction with different nonlinear models. As illustrative examples, under the proposed protocols, a networked unicycles and second-order dynamics achieve consensus in finite time.