Finite-Time Consensus Tracking of Perturbed High-Order Agents With Relative Information by Integral Sliding Mode

Finite-time consensus tracking of high-order multiagent systems (MASs) with disturbances is investigated with relative information only. First, the MASs are converted to the dynamics of local consensus errors with relative states only, and the high-order finite-time exact differentiators are employed to estimate the unknown consensus errors when only the relative outputs of the MAS are available. Second, based on the estimated values, the discontinuous integral sliding mode (ISM) and continuous supertwisting ISM protocols are respectively constructed by exploiting the homogeneous finite-time control and the neighboring agents' control inputs, and finite-time consensus tracking is achieved in spite of the disturbances. Finally, simulation results validate the scheme.