Finite-Time Distributed Control of Non-Triangular Stochastic Nonlinear Multi-Agent Systems with Input Constraints

This paper investigates the problem of finite-time distributed consensus control for non-triangular stochastic nonlinear multi-agent systems (SNMASs) with input constraints. Fuzzy logical systems are used to identify the unknown nonlinear dynamics of non-triangular SNMASs. A finite-time command filter is utilized to eliminate the issue of "explosion of complexity" in the conventional backstepping-based distributed control algorithm, and a fractional power error compensation mechanism is constructed to improve the distributed control performance of SNMASs. It is proved that the proposed distributed controller enables all of the closed-loop system's signals to be semi-globally finite-time bounded in probability, and the consensus tracking errors will converge to a sufficiently small neighborhood of the origin in a finite time. Finally, the effectiveness of the presented finite-time distributed control scheme is illustrated with a simulated example.