Abstract:

he finite-time tracking problems of multi-agent systems with leader-follower models are studied. To track a time-varying leader, a nonlinear finite-time tracking control protocol is proposed for multi-agent systems under fixed network topologies. Based on the theory of finite-time Lyapunov stability and matrix theory, the sufficient conditions which guarantee the system to reach a finite-time tracking are obtained. Moreover, for the system under switching network topologies, another tracking control protocol is proposed. The followers can track the time-invariant leader in finite time. Two simulations are presented to illustrate the obtained theoretical results.