Adaptive finite-time leader-following consensus control of a group of uncertain mechanical systems

In this paper, the finite-time consensus control for multi-agent systems consisting of a group of nonlinear mechanical systems with parametric uncertainties is considered. Continuous distributed control algorithms for the multi-agent systems are presented. For the leader-follower of a group of mechanical systems with a directed graph, based on distributed estimators, it is demonstrated that consensus can be reached or the leader-following errors converge to a region with arbitrarily small radius in finite time.