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This paper presents the design and analysis of the finite/fixed-time scaledconsensus for multiagent systems. A study on a generic attracting law, thecertain classes of nonlinear systems that admit attractors withfinite/fixed-time convergence, is at first given for the consensus purpose. Theestimates for the lower and upper bounds on the settling time functions areprovided through the two-phase analysis. The given estimates are initial statedependent, but the durations are finite, without regarding the values that theinitial states take. According to the generic attracting law, distributedprotocols are proposed for multiagent systems with undirected anddetail-balanced directed graphs, respectively, where the scaled strategies,including time-varying and nonlinear scales, are adopted. It is shown that thefinite/fixed-time consensus for the multiagent system undertaken can still beachieved, even though both time-varying and nonlinear scales are taken amongagents. Numerical simulation of two illustrative examples are given to verifyeffectiveness of the proposed finite-duration consensus protocols.

Time-Varying and Nonlinearly Scaled Consensus of Multiagent Systems: A Generic Attracting Law Approach