Finite time consensus control for nonlinear heterogeneous multi-agent systems with disturbances

This paper discusses the finite time consensus (FTC) issue of nonlinear heterogeneous multi-agent systems (HMASs) by combining integral sliding-mode control (SMC), event-triggered (ETC) and pinning methods. The SMC is constructed separately for first-order second-order agents to assure that system not interfered nonlinearities disturbances when state trajectory moves on sliding surface. To stimulate FTC system, novel protocols fully distributed ETCs with adjustable trigger frequency only rely local information are designed. Moreover, Zeno behavior eliminated range gain each agent under directed weakly connected topology determined. Meanwhile, we also give conditional criteria achieve FTC. Eventually, correctness obtained conclusion illustrated several simulation examples.