Finite-time Consensus of Leader-following Multi-agent Systems with Input Saturation and Disturbance

This study focuses on distributed finite-time consensus control of leader-following multi-agent 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 velocity measurements. Simultaneously, 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 so that 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. Finally, the effectiveness of the proposed method is verified by numerical simulations.