New Terminal Sliding Mode Consensus Algorithm for Disturbed Second-order Multi-agent Systems

A finite-time adaptive tracking control algorithm based on non-singular terminal sliding mode (NTSM) is proposed to solve the consensus problem of second-order multi-agent system (MAS) with disturbance. Firstly, a finite-time disturbance observer based on NTSM is introduced to estimate and compensate the disturbance. Then, a NTSM adaptive controller is designed to enhance the robustness of the system, and improve the response speed and tracking accuracy. A proof of the finite-time convergence of the method is given by using Lyapunov theory. Finally, simulation experiments are carried out to demonstrate the effectiveness of the proposed method.