Finite-Time Leaderless Consensus Control for Systems with High-Order Uncertain Dynamics

  • Yongduan SongEmail author
  • Yujuan Wang
Part of the Communications and Control Engineering book series (CCE)


The majority of the research on finite-time consensus control has been focused on MAS described by single or double integrator under undirected topology. This work explicitly addressed the problem of finite-time consensus for MAS with high-order nonlinear uncertain dynamics under directed communication constraints. Finite-time leaderless consensus for networked multi-agent systems (MAS) with high-order nonlinear uncertain dynamics under local communication condition is a challenging problem due to the involvement of high-order nonlinear uncertain dynamics, local communication constraints, and unknown time-varying control effectiveness gain. In this chapter, based upon the locally defined consensus error and fractionally composed virtual error, a number of useful intermediate results are derived, with which the finite-time consensus solutions are established for networked MAS with high-order uncertain dynamics under single-way directed communication topology.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.School of AutomationChongqing UniversityChongqingChina

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