Adaptive Practical Fast Finite-Time Consensus Protocols for High-Order Nonlinear Multi-Agent Systems With Full State Constraints

This paper mainly addresses the issue of fast finite-time consensus (FTC) algorithms for a group of high-order uncertain nonlinear non-strict-feedback Multi-agent Systems (MASs) with time-varying asymmetric full state constraints. In order to guarantee the state constraints are satisfied, an appropriate asymmetric nonlinear mapping (NM) is employed to transform the original full state constrained system into a corresponding unconstrained one. Combining neural networks technology, graph theory, fast finite-time control theory and backstepping recursive design scheme, the uncertainties and non-strict-feedback form are considered to propose a distributed adaptive FTC protocol which can guarantee tracking error reaching a region in finite time. Finally, an example is given to show that the designed control law can perform effective control.