Fully Distributed Adaptive Finite-Time Leader-Following Consensus for Uncertain Nonlinear Multiagent Systems

This paper investigates the adaptive finite-time leader-following consensus for a class of second-order uncertain nonlinear multiagent systems. Different from the existing results, the systems under investigation allow serious uncertainties in control coefficients and nonlinearities, and the global information of network topology is unavailable. This would bring difficulties for the achievement of the finite-time consensus. In order to overcome those difficulties, a fully distributed protocol is designed via combining adaptive method, in which only a single dynamic gain (rather than multiple ones as in the existing results) is introduced to counteract the multiple uncertainties and cope with the unavailability of the global information of network topology. Under the designed protocol, it is shown that the position and velocity of each follower track to those of leader in finite time, respectively.