Distributed Finite-time Adaptive Containment and Bipartite Containment Control for Nonlinear Multi-agent System

Distributed second-order finite-time adaptive containment and bipartite containment control are investigated for multi-agent system with disturbance and nonlinear function under undirected graph in this paper. Firstly, two controllers are designed to achieve finite-time adaptive containment and bipartite containment control, which both based on terminal sliding mode. Then, desired finite-time containment and bipartite containment protocols are proposed and settling time can be estimated. It is proved that settling time of finite-time containment is associated to initial state. Feasibility of theory is proved by simulation experiments.