Distributed finite-time tracking control for second-order nonlinear multi-agent systems under directed topology

Aimed at second-order nonlinear multi-agent networks, the finite time distributed tracking control is investigated based on non-smooth analysis method. Assuming that inherent nonlinear dynamics is satisfied with certain condition, distributed hybrid control protocol is proposed with only one agent knowing target dynamics. Sufficient condition is developed to obtain finite time tracking based on differential inclusions principle and finite time stability analysis methods of non-smooth theory. For the directed topology containing a spanning tree with detail-balanced strongly connected components, suitable control gain can make nonlinear network achieve finite time tracking. Simulation results validate the effectiveness of the proposed scheme.