Finite time consensus for multi-tricycle systems under graph theory

In this paper, we study the finite-time consensus problem of networked nonlinear systems under fixed topology. To solve the problem of consensus in finite time we proposed a protocol based on concepts of stability in finite time and graph theory, the protocol is applied for the multi-unicycle system and the multi-tricycle system in interaction with different nonlinear models. As illustrative examples, using the proposed protocols, a networked unicycle robots with/without time delay, and a multi-system tricycle robots achieve consensus in finite time.