Finite-Time Consensus for Second-Order Multi-Agent Systems with Disturbances by Integral Sliding Mode Algorithm based on Relative Information

Abstract

This paper investigates the distributed finite-time consensus problem of second-order multi-agent systems (MAS) with one leader or multiple leaders in the presence of bounded disturbances. Based on the continuous homogeneous finite-time consensus protocol for the nominal MAS, the discontinuous and continuous super-twisting protocols upon integral sliding mode (ISM) algorithm are respectively developed to achieve finite-time tracking consensus of MAS with one leader and finite-time containment consensus of MAS with multiple leaders in spite of the disturbances. Simulation results illustrates the effectiveness of the proposed protocols.