Finite-Time Tracking Control of Multi-Agent System with External Disturbance

This paper focuses on addressing the finite-time tracking problem of a class of multi-agent systems (MASs) under specific perturbations. Each agent is modeled with general linear dynamics, and an undirected interconnected communication topology is assumed among the agents. A key technical innovation lies in the proposed adaptive rule, which dynamically tunes two critical elements: the parameters of the nonlinear compensation term in the reference input and the coupling weights between neighboring agents. By integrating this adaptive mechanism into a sliding mode control framework, rigorous theoretical analysis confirms that under suitable conditions, the controlled system can converge to an innovative desired switching surface within finite time, thereby further guaranteeing the MASs achieve finite-time bounded (FTB) tracking. The convergence time is elaborated in detail in the subsequent proof. Finally, numerical examples are presented to experimentally substantiate the effectiveness of the proposed approach.