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Finite-Time Output Consensus for Nonlinear Multi-Agent Systems under Directed Graph

The finite-time output consensus problem for a class of nonlinear multi-agent systems is investigated over a directed graph. Firstly, a distributed differentiator is proposed such that the leader’s output trajectory and its first-order derivative can be derived by each follower agent. Then, to track the trajectory provided by the distributed differentiator, a continuous finite-time controller is developed based on command-filtered backstepping control. It can be demonstrated that the problem is solved under the distributed controller composed of distributed differentiator and finite-time controller. Finally, the effectiveness of the designed distributed controller is verified by an illustrated example.