Distributed Finite-Time Tracking Control of Non-affine Pure-Feedback Multi-agent Systems with Full State Constraints

This paper addresses the distributed finite-time tracking control problem of non-affine pure-feedback multi-agent systems with full state constraints. By introducing the nonlinear mapping technique, the pure-feedback system with full state constraints is transformed into a pure-feedback one without state constraints. Furthermore, by combining the fraction dynamic surface and Butterworth low-pass filter, a novel finite-time adaptive tracking controller is conducted recursively and the algebraic loop problems are avoided. Based on Lyapunov stability theory, it is proven that all the signals in the multi-agent systems are semi-globally uniformly ultimately bounded in finite time and the full system states satisfy the constraints. Finally, a numerical simulation is provided to demonstrate the effectiveness of the proposed control strategy.