Adaptive finite-time consensus control of a group of uncertain nonlinear mechanical systems

In this paper we consider finite-time leaderless consensus control of multi-agent systems consisting of a group of nonlinear mechanical systems with parametric uncertainties. New adaptive finite time continuous distributed control algorithms are proposed for the multi-agent systems. It is shown that the states of the mechanical systems can reach a consensus within finite time under an undirected graph. Transient performances in terms of convergence rates and time are also analyzed. Finally simulation results illustrate and verify the effectiveness of the proposed schemes.