Finite-Time Containment Control for Nonlinear Multi-Agent Systems Based on High Order Sliding Mode

Several finite-time containment control issues under stationary and dynamic leadership are the main emphasis of this thesis, which is concerned with a typical class of second-order nonlinear multi-agent systems susceptible to outside intervention. According to a given network topology, the second-order super-twisting sliding mode control is a technique for distributed control that has been developed. In this paper, we mainly consider the situation that the leader moves at a uniform speed. With the proposed method, the followers update status in real time via communication with each other such that all of them are able to eventually converge to the convex hulls consisting of stationary leaders and dynamic leaders in finite time. It leads to make the followers remain stationary or keep moving within the designed region. Eventually, according to the matrix theory and finite-time stability theorem, the paper proves the stability of the finite-time on the proposed control protocol and validates its effectiveness and correctness through simulation.