Finite-time consensus algorithms of leader-follower higher-order multi-agent systems with uncertain nonlinearities

In this paper, the finite-time consensus problem of leader-follower higher-order multi-agent systems with uncertain nonlinearities is studied, where the uncertainties are assumed to satisfy Holder conditions. To solve this problem, distributed adding a power integrator method, feedback domination technique and integral sliding-mode control are combined together. Firstly, by using distributed adding a power integrator method, a distributed recursive control scheme is proposed. In the recursive control design, based on feedback domination method, the Wilder conditions of the unknown nonlinearities are introduced into the virtual controllers design. Secondly, on the basis of the designed recursive controllers, integral sliding-mode surfaces are designed and then the corresponding distributed sliding-mode controllers are proposed. The designed sliding-mode controllers guarantee that the finite-time leader-follower consensus problem is solved without using a distributed observer. The stability analysis of the closed-loop systems is presented based on finite-time stability theory. Moreover, simulations show the effectiveness of the proposed consensus algorithms. (C) 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.