Finite Time Ship Consistency of Nonlinear Multiagent Systems Based on Sliding Mode Observer

This paper mainly studies the problem of finite time consistency control of the nonlinear multi-agent system of ship course. Under the constraints of unmeasurable speed and input saturation, a finite-time control protocol with a second-order sliding mode observer is proposed. The Lyapunov stability theory and homogeneous theory are used to prove that the ship multi-agent system can provide The speed information of the ship agent can be effectively estimated under the agreement to achieve finite time consistency and effective estimation. Finally, the validity of the control protocol is verified by numerical simulation.