Global saturated finite-time consensus tracking for uncertain second-order multi-agent systems with directed communication graphs

In this paper, we study the global finite-time consensus tracking problem for uncertain second-order multi-agent systems subject to input saturation. The communication graphs are allowed to be general directed graphs. An observer-based distributed controller is proposed such that global finite-time consensus tracking is achieved with bounded control inputs. A simulation example is given to illustrate the effectiveness of the proposed control strategy.

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