Distributed Adaptive Finite-Time Containment Algorithm for Inherent Nonlinear Multiagent System

In this article, we consider distributed adaptive finite-time containment control for a class of nonlinear multiagent system with external perturbation which is unknown upper bound under directed graph. Multiagent systems is nonlinear dynamics system of which inherent nonlinearities are designed as higher- and lower-order. First of all, by using information of neighbor, it is possible to construct a second-order finite-time estimator to estimate weighted average of positions and velocities of leaders. Then, a distributed adaptive finite-time containment controller is proposed to make states of followers can converge to convex hull spanned by leaders in finite time. Finally, effectiveness of proposed control algorithm is demonstrated by numerical simulation.