Finite-time consensus tracking of second-order multi-agent systems via nonsingular TSM

The finite-time consensus tracking problem for second-order multi-agent system is investigated in this paper. The multi-agent system here is composed of a leader with bounded input signal and n followers with bounded disturbances. A new continuous nonlinear distributed consensus tracking protocol is constructed via nonsingular terminal sliding mode (TSM) scheme. It is proved that the overall system will reach consensus in finite time via Lyapunov theory when appropriately choosing the parameters under directed connected topology. Finally, simulations are performed, and results show that the method is robust and efficient.

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