Finite-Time Consensus Protocols for Switched Multi-agent Systems with Nonlinear Disturbances

This paper focuses on the finite-time consensus control protocol problem for a class of switched multi-agent systems subject to unknown disturbances. By utilizing the terminal sliding mode control method and power integration technique, the proposed protocol effectively addresses the impact of unknown parameter perturbations, ensuring that switched multi-agent systems achieves finite-time consensus under continuous control inputs with a bounded convergence time. Moreover, the consensus errors converge to the origin in finite time, rather than to a neighborhood of the origin.