Finite-Time Consensus Tracking of Nonlinear Heterogeneous Multi-Agent Systems With Disturbances and Directed Graphs

This paper focuses on consensus tracking problem of heterogeneous multi-agent systems (HMASs) with disturbances and directed graphs. First, nonlinear dynamical models are given for first-order, second-order agents and mobile target. With introducing a distributed filtering method, the immeasurable velocities of agents and the mobile target are estimated by their positional informations. The proposed integral sliding mode control protocols can implement on finite-time consensus tracking of HMASs. Then, using Lyapunov method, the stability of heterogeneous system is proved, and the sufficient condition is provided for achieving the finite-time consensus tracking. The simulation example further illustrates the effectiveness of theoretical results.