Finite-Time Consensus for High-Order Disturbed Multiagent Systems With Bounded Control Input

In this study, the finite-time consensus tracking problem for a class of high-order multiagent systems with the external disturbances and bounded control input is investigated, and a continuous finite-time consensus protocol via a class of distributed observers is proposed. The protocol is designed by adopting a power integrator technique and the super-twisting algorithm with saturation constraint. Despite the presence of disturbances, the proposed protocol enables the states of all agents to track the states of the leader and the tracking errors converge to zero in finite time. Besides, the input signal is bounded and its upper bound can be calculated. Some sufficient conditions on realizing the consensus of multiagent systems in finite time are deduced by employing the inductive analysis and the Lyapunov-based technology. Finally, a numerical example is provided for demonstrating the validity of developed protocols.