Finite-time consensus control for heterogeneous mixed-order nonlinear stochastic multi-agent systems

This study investigates the finite-time consensus control problem for a class of mixed-order multi-agent systems (MASs) with both stochastic noises and nonlinear dynamics. The sub-systems of the MASs under consideration are heterogenous that are described by a series of differential equations with different orders. The purpose of the addressed problem is to design a control protocol ensuring that the agents' states can achieve the desired consensus in finite time in probability 1. By using the so-called adding a power integrator technique in combination with Lyapunov stability theory, the required distributed consensus control protocol is developed and the corresponding settling time is estimated. Finally, a simulation example is given to demonstrate the correctness and usefulness of the proposed theoretical results.