Finite-time consensus of nonlinear multi-agent system with prescribed performance

Abstract

In this paper, the finite-time consensus tracking problem of uncertain nonlinear multi-agent systems with consensus error constraints is addressed. The multiple agents are assumed to interact on directed graph with a directed spanning tree. In order to obtain some satisfactory consensus performances, the error constrained control is employed by applying the barrier Lyapunov function. With the consensus error constraints, some high performances such as high convergence speed, small overshoot, and an arbitrarily predefined small residual constrained synchronization error can be achieved simultaneously. By using a nonsingular fast sliding mode control technique, a new distributed finite-time consensus controller is proposed to guarantee that the multi-agent system synchronizes with prescribed performances. Finally, two examples are provided to demonstrate the effectiveness of the proposed method.