Adaptive Finite-Time Consensus for Stochastic Multiagent Systems With Uncertain Actuator Faults

Abstract

This paper aims to develop fully distributed adaptive protocols and establish the finite-time consensus criteria for nonlinear stochastic multi-agent systems that are subjected to serious multiple uncertainties not only in the agents' states and inherent nonlinearities but also in their actuators. Firstly, we propose a new continuous fully distributed consensus protocol for leaderless stochastic multi-agent systems by leveraging the adaptive technology, enabling the agents to achieve the finite-time consensus in probability efficiently. Secondly, we develop an adaptive protocol for leader-following multi-agent systems, and remarkably our protocol contains only one dynamic gain, which is adequate to resist serious multiple uncertainties and to ensure the realization of finite-time consensus in probability. Finally, we provide numerical simulations to verify the effectiveness of our protocols.