Adaptive finite-time flocking for uncertain nonlinear multi-agent systems with connectivity preservation.

In this paper, we investigate the adaptive finite-time flocking problem for a class of second-order nonlinear multi-agent systems with parameter uncertainties. The states of all agents can achieve finite-time consensus by using the proposed control algorithm under an undirected graph. It is shown that connectivity preservation is guaranteed by choosing an appropriate Lyapunov potential function. A numerical example is presented to illustrate the effectiveness of the proposed consensus protocol. [ABSTRACT FROM AUTHOR]