Safety-Certified Consensus Control of Multi-Agent Systems Based on Finite-Time Control Barrier Function

This paper investigates the consensus control of second-order multi-agent systems in the presence of stationary obstacles. Every agent is faced with unknown model uncertainties. Based on the finite-time control barrier function (FTCBF), a safety-certified consensus control method is proposed to achieve collision-free consensus formation. First, a nominal virtual control law is designed to generate the predefined formation. An FTCBF-based state set is constructed to guarantee the safety of multi-agent systems. Next, a finite-time observer with robust exact differentiator is devised to recover unknown model uncertainties. By using the estimated information, we develop an anti-disturbance control law to track the optimal signal. Finally, error signals of the closed-loop system are proved to be uniformly ultimately bounded, and the multi-agent system can be ensured to be safety-certified. A simulation example is employed to demonstrate the effectiveness of the proposed safety-certified consensus control method.