Distributed adaptive containment control for second-order multi-agent systems via NTSM

This paper studies the distributed adaptive containment control for second-order multi-agent systems with multiple dynamic leaders and unknown external disturbances. Firstly, the distributed finite-time estimators are given for the followers to estimate the weighted average of the leaders velocities. Then, the nonsingular terminal sliding mode (NTSM) vector is designed, and two continuous distributed adaptive control laws are proposed based on the NTSM, which can not only guarantee the followers converge to an arbitrary small neighborhood of the convex hull formed by the leaders in finite time, but also eliminate the chattering. Simulation results are included to show the effectiveness of proposed method.