Finite-time containment consensus of multi-agent systems with disturbances by integral sliding mode algorithm

This paper investigates the distributed finite-time containment consensus problem of second-order multi-agent systems (MAS) with multiple leaders in the presence of bounded disturbances. Based on the continuous homogeneous finite-time consensus protocol for the nominal MAS, the discontinuous and continuous super-twisting protocols upon integral sliding mode (ISM) algorithm based on absolute information or relative information are respectively developed to achieve finite-time containment consensus of MAS with multiple leaders in spite of the disturbances. Simulation results illustrates the effectiveness of the proposed protocols.