A Double-Layer Hierarchical Finite-Time Output Consensus Tracking Protocol for Heterogeneous Multi-Agent Systems With an Active Leader

Addressed in this paper is the finite-time output consensus tracking (FOCT) problem for general linear heterogeneous multi-agent systems (MASs) with an active leader. Unlike most existing results with a zero-input leader, the active leader under consideration is subject to a bounded non-zero control input. This enables the MASs to accommodate practical tasks and achieve desirable performance, such as tracking sophisticated and various trajectories, interacting with humans and tracking manned vehicles. Despite these advantages, the presence of an active leader introduces challenges for controller design and system stability analysis, especially within the framework of finite-time stability for heterogeneous MASs. In this study, a double-layer-hierarchical control strategy is developed, which consists of a hierarchical structure comprising two layers. The upper layer incorporates finite-time dynamic cooperative compensators and the lower-level layer implements finite-time tracking controllers. Simulations on general linear heterogeneous MASs and heterogeneous connected vehicles are conducted, validating the effectiveness of the proposed algorithm.