Finite-Time Bipartite Consensus for Second-Order Nonlinear Multi-Agent Systems Under Random Switching Topologies

In this brief, the finite-time bipartite consensus problem for second-order nonlinear multi-agent systems (MASs) under random switching topologies is studied. Considering the transformation of the existence of communication and the transformation of the cooperation-competition relationship between the follower and the leader, a topological switching based on structural balance is proposed. Through the finite-time control protocol, sufficient conditions are obtained for all agents to achieve the practical finite-time bipartite consensus. Among them, the nonlinear function is approximated using the radial basis function neural network (RBFNN) fitting. Finally, the feasibility of the control protocol is proved by a example.