Finite-time consensus of second-order nonlinear systems with unknown dynamics

This paper investigates the finite-time leader-follower consensus problem for second-order nonlinear multi-agent systems with unknown dynamics under directed communication graphs. By employing fuzzy logic systems (FLSs) to identify the unknown dynamics, a finite-time leader-follower consensus protocol is proposed via a nonsingular terminal sliding mode technique to guarantee that the states of all followers ultimately synchronize to that of the leader with bounded residual tracking errors in finite time. A simulation example demonstrates the effectiveness of the proposed consensus algorithm.