Finite-time tracking control for multi-agent systems

The finite-time tracking problems of multi-agent systems with leader-follower models are studied.To track a time-varying leader,a nonlinear finite-time tracking control protocol is proposed for multi-agent systems under fixed network topologies.Based on the theory of finite-time Lyapunov stability and matrix theory,the sufficient conditions which guarantee the system to reach a finite-time tracking are obtained.Moreover,for the system under switching network topologies,another tracking control protocol is proposed.The followers can track the time-invariant leader in finite time.Two simulations are presented to illustrate the obtained theoretical results.