A Discontinuous Finite-Time Consensus Tracking Algorithm for Single Integrator Multi-Agent System with External Disturb

This paper investigates the consensus tracking with disturbance rejection (CTDR) problem for single integrator multi-agent system (MAS). The communication topology is required to contain a directed spanning tree, where the leader is the root. Based on a discontinuous algorithm, finite-time CTDR is realized in a one-step control process, unlike those existing results derived based on classical two-step control technique, namely sliding mode control. A finite-time stability analysis for CTDR is developed by means of non-smooth Lyapunov analysis. Finally, a numerical example is provided to validate the theoretical analysis.