Distributed finite-time tracking control for second-order nonlinear multi-agent systems under switching topology

Finite time coordinated tracking problem is studied for second-order multi-agent networks with inherent nonlilear dynamics based on differential inclusions theory. Distributed hybrid control protocol is designed assuming that nonlinear dynamics is satisfied with Lipschitz condition and only a subset of agents know objective dynamics. Sufficient conditions are developed to achieve finite time tracking applying non-smooth stability analysis methods. Finite time tracking can be achieved with suitable control gain for the directed switching topology keeping connected. Simulation results verify the validity and correctness of the theoretical analysis.

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