Fast finite-time tracking control for multi-agent systems with mismatched disturbances under directed communication graphs

摘要

In this paper, the fast finite-time consensus problem on multi-agent systems is considered. Multi-agent systems are affected by mismatched disturbances and the communication graph is directed. By a sliding mode observer and a fast nonsingular terminal sliding mode control method, the feedforward-feedback controller is presented for multiple second-order systems and multiple high-order systems to achieve consensus, respectively. The proposed control method can provide short convergence time and improved control input without strong chattering and singularity phenomenon. Finally, simulations are given to verify the availability of the methods.