Finite-time time-varying formation tracking for second-order multi-agent systems with a leader of fully unknown input

In this paper, finite-time time-varying formation tracking problems are investigated for second-order multi-agent systems (MAS) over directed topology, where the MAS consist of a leader with fully unknown input and several followers. The followers are required to realize the desired time-varying formation and to track the expected trajectory generated by the leader in finite time simultaneously. The method for solving the finite-time formation tracking problems involves the following steps. First, finite-time observers are designed for each follower, to get the estimated states of the leader. Then, a finite-time formation tracking algorithm is proposed by using the neighboring information. Furthermore, it is proved that the given formation tracking can be accomplished by the MAS in finite time by using the Lyapunov theory. Finally, a numerical example is given to verify the effectiveness of the theoretical results.

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