Finite-time consensus of multiagent systems with input saturation and disturbance

This study focuses on distributed finite-time consensus control of second-order multiagent systems (MASs) with of both input saturation and disturbances. To achieve finite-time consensus of the MAS with input saturation, a distributed controller is designed by considering relative position and relative velocity measurements. In particular, a continuous integral sliding mode method is designed to deal with bounded disturbances. With the proposed controller, the system state enters the sliding mode from any initial state and will be stably and reliably maintained, where the disturbance can be compensated by a disturbance observer. Based on the continuous homogeneous theory, it is validated that the proposed combined protocol will guarantee finite-time consensus of MASs in the format of second-order integrators with input saturation and disturbances. Both the leader-following and leaderless cases are considered and solved in this study. Finally, the effectiveness of the proposed method is verified by numerical simulations.