Distributed Finite-time Lag-consensus for Second-order Nonlinear Multi-agent Systems with Disturbances
Yanying Zhou, Guoshan Zhang · 2018
The finite-time lag-consensus problems of second-order multi-agent networks which have inherent nonlinear dynamics and bounded external disturbances are studied in this paper. Lag consensus here means the followers can follow with the leader`s trajectory with a time delay so as to avoid congestion. For the leader-following case, we construct a novel consensus control protocol with the relative information of velocity and position, and it is proved that all agents can reach finite-time lag consensus by Lyapunov theory when the communication is directed. Furthermore, the finite convergence time is explicitly estimated. Finally, a simulation example is presented to show the validity of theoretical results.