The finite-time leader-following consensus problem is addressed for a class of high-order
multi-agent systems with uncertain nonlinear dynamics. Each follower node is modeled by
lower-triangular system. By using recursive method, we develop the finite-time consensus
control design scheme. Based on finite-time Lyapunov stability theorem and matrix theory,
we prove that the finite-time consensus of high-order uncertain nonlinear multi-agent
systems is guaranteed by non-lipschitz continuous control laws. Simulation results are given …

This paper deals with the leader-following consensus problem for a class of multi-agent
systems with nonlinear dynamics and directed communication topology. The control input of
the leader agent is assumed to be unknown to all follower agents. A distributed adaptive
nonlinear control law is constructed using the relative state information between neighboring
agents, which achieves leader-following consensus for any directed communication graph
that contains a spanning tree with the root node being the leader agent. Compared with …