Leader-Following Finite-time Consensus of Second-order Nonlinear Multi-agent Systems on Directed Graph

This paper investigates the leader-following finite-time consensus problem for second-order nonlinear multi-agent systems on directed communication topology. By using the technique of adding-a-power-integrator, a variable structure control scheme is proposed. To deal with the unknown nonlinear function, adaptive control method is employed. It is proved that the proposed control scheme guarantees that the tracking errors converge to an arbitrary small bound in finite time. In the end, an example is provided to show the effectiveness of the proposed control scheme.