Observer-Based Finite-Time Consensus for Heterogeneous Multiagent Systems With Nonholonomic Chained-Form Dynamics

Driven by the development of the smart Internet of Things (IoT), the consensus of heterogeneous multiagents with nonholonomic chained-form dynamics is considered, where the order number and dynamics of each agent can be different. First, a distributed adaptive observer is designed to estimate all states and inputs of a leader in a finite time. Then, a distributed finite-time consensus (FTC) protocol is presented to track estimated states of the leader by integrating power integrator technique, which can address heterogeneous structure of multiagent systems while achieving FTC tracking. Moreover, the consensus of systems is analyzed and proved by Lyapunov theory. Finally, a simulation example for multiple wheeled robots is provided to demonstrate the effectiveness of the protocol.