Robust finite-time consensus tracking for second-order multi-agent systems with input saturation under general directed communication graphs
Junjie Fu, Qi Wang, Jinzhi Wang · International Journal of Control · 2017
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. Sliding-mode observer-based distributed controllers are proposed such that global finite-time consensus tracking is achieved with bounded control inputs. Only relative state or output measurements are used in the proposed controller which reduces the communication requirement on the agents. Simulation examples are given to illustrate the effectiveness of the proposed control strategies.