Distributed finite-time control for arbitrary switched nonlinear multi-agent systems: an observer-based approach

The distributed finite-time control problem through adaptive neural identifier for a group of nonlinear agents with strict-feedback structure is assessed here. The main considered and assessed technical problems in this proposed control strategy are that followers’ states are not fully available for control design, and at the same time, each follower is represented by uncertain nonlinear switched dynamics. Due to the structure of the proposed followers here, a switched linear state observer is constructed to estimate the unavailable states. To finite convergence time guarantee, the backstepping design and finite-time approach are adopted in the distributed control design in a simultaneous manner. The control architecture is chosen to guarantee graph stability through multiple Lyapunov functions. It is revealed that the followers’ outputs are forced to follow the leader output in the finite time, and all signals in the overall closed-loop network system are assured to be bounded. Two simulation examples are presented to further demonstrate the validity of this proposed method.