Distributed finite-time consensus algorithms for leader-follower second-order multi-agent systems with mismatched disturbances

In this paper, the finite-time consensus problem is investigated for leader-follower second-order multi-agent systems subject to mismatched disturbances. This control problem is solved via a feedforward-feedback composite control scheme, which is composed of the non-singular terminal sliding-mode control (NTSMC) and disturbance observer based control (DOBC) methods. In the first step, for each follower, a finite-time disturbance observer is developed to estimate its matched/mismatched disturbances. In the second step, by using its own and neighbors' mismatched disturbance estimates, dynamic non-singular terminal sliding-mode surfaces are derived for each follower. Finally, based on the designed sliding-mode surfaces, distributed terminal sliding-mode controllers are proposed, which achieve consensus for the agents in finite time. Simulations illustrate the effectiveness of the proposed distributed finite-time consensus control method.