Finite-time Consensus for Uncertain Nonlinear Second-order Multi-agent Systems

This paper studies the finite-time consensus problem of leader-follower second-order multi-agent systems with mismatched uncertain nonlinearities, which are assumed to satisfy Hölder condition. By integrating sliding-mode control, distributed adding a power integrator technology and feedback domination method together, a kind of nonlinear distributed control algorithms is proposed. Under the proposed distributed control algorithms, the followers states track the leader states accurately in finite time. The rigorous stability analysis of the closed-loop system is presented based on finite-time stability theory. Moreover, a simulation example is given, which shows the effectiveness of the proposed control scheme.