Finite-time group-bipartite consensus tracking for second-order nonlinear multi-agent systems

In this paper, the finite-time group-bipartite consensus problem for nonlinear second-order multi-agent systems (MASs) is studied. By designing the control protocol, based on the proof of the system reaching asymptotically group-bipartite consensus, the homogeneous dilation method is used to obtain sufficient conditions for all agents to reach the finite-time group-bipartite consensus. Moreover, nonlinear functions are constrained by the Lipschitz condition. In addition, two examples demonstrate the operability of the control protocol.