Finite Time Robust Flocking of Second-Order Linear Agents

In this paper, we propose a novel control strategy inspired by sliding mode principles, designed to drive a set of second-order linear agents into a lattice configuration in finite time, thereby satisfying Reynolds' flocking rules. Moreover, we demonstrate that the control law is robust against a class of external disturbances, ensuring stable flocking behavior even in the presence of uncertainties. To validate our theoretical results, we present several simulation scenarios that confirm both the effectiveness and robustness of the proposed approach.