Finite time containment control of nonlinear multi-agent networks

Finite time containment control problem is studied for multi-agent networks with nonlinear perturbation. Assuming that the norm of the perturbation is bounded, switching control protocol and non-smooth continuous one are proposed based on nonsingular terminal sliding mode control thought. Furthermore, sufficient conditions of accurate and practical finite time containment control of nonlinear networks are derived by applying finite time stability analysis methods. And it is shown that followers can be driven into and remain in the dynamic convex hull formed by the leaders in finite time on the condition that appropriate control coefficients are chosen. Simulation examples verify the validity and correctness of the theoretical schemes.