Distributed Fast Finite-Time Tracking Consensus of Multi-Agent Systems With a Dynamic Leader

Distributed fast finite-time tracking consensus (FTTC) is investigated for first-order nonlinear multi-agent systems (MASs), where the leader has an external input unknown to all followers. Based on global finite-time stability and Lyapunov stability, two distributed tracking protocols are proposed to guarantee fast FTTC. First, a basic distributed non-smooth protocol for solving this problem is proposed and analyzed. A limitation of the designed protocol is that the control gains should depend on some global information like the spectrum of Laplacian matrix. To remove this limitation, a fully distributed protocol is further designed and analyzed. Theoretical studies imply that the states of the considered MASs will also achieve fast FTTC. Finally, two simulation examples are performed on Chua’s circuit system to verify the theoretical results.