Finite-Time Adaptive Consensus of Second-Order Nonlinear Leader-Following Multi-Agent Systems with Switching Topology
Luyao Wang, Zhuoyuw Li, Dan Ma · 2019
This paper investigates the finite-time leader-following consensus problem of second-order nonlinear multi-agent systems with switching topology. The unknown nonlinearity of each agent can be formulated as the production of a known constant function vector and an unknown parameter vector. Under this circumstance, the finite-time consensus problem of the system under the switching topologies can be transferred into an finite-time adaptive tracking control problem of switched systems. This paper derives the finite-time adaptive tracking conditions on the nonlinear switched systems with unknown parameters in terms of the finite-time Lyapunov stability theory and the average dwell time technique. A novel finite-time adaptive distributed consensus control protocl is proposed to make the tracking error converge to a small neighborhood of the origin in finite time. Finally, the numerical simulations illustrate the effectiveness of the method.