Finite time distributed tracking control of nonlinear networks preserving topological connectedness

The finite time coordinated tracking problem under communication constraints is studied for multi-agent networks with inherent nonlinear dynamics based on the differential inclusions theory. Because the induced interaction graph is typically state-dependent and dynamic, the distributed hybrid control protocol that is capable of preserving topological connectedness is designed assuming that nonlinear dynamics are satisfied with Lipschitz condition and each agent has a limited sensing range. Sufficient conditions are developed to achieve finite time tracking by applying non-smooth stability analysis methods, that is finite time tracking can be achieved with suitable control gain. Simulation results verify the effectiveness and correctness of the theoretical analysis.