Observer-based Finite-time Containment Control for Nonlinear Multi-agent Systems with Mismatched Disturbance

In this paper, finite-time containment control with unknown mismatched disturbance is studied. First of all, a novel non-singular terminal sliding mode surface combined with the finite time disturbance observers is devised. Next, the non-singular containment control protocol is proposed and demonstrated to guarantee the finite time containment performance in the presence of mismatched disturbance. Finally, a numerical example is given to illustrate and verify effectiveness of the given containment controllers.