Observer-based finite-time consensus for double integrator systems with time varying disturbances by sliding mode control

This paper investigates the distributed finite-time consensus problem of double integrator systems with time varying disturbances in absence of velocity information. Based on the continuous homogeneous finite time consensus protocol for the nominal multi-agent systems (MAS), both the discontinuous and continuous integral sliding mode (ISM) protocols are developed respectively by using only the position information of local and neighboring agents. Simulation results validate the effectiveness of the proposed scheme.