Distributed finite-time containment control for multi-agent systems with multiple dynamic leaders

This paper studies the distributed finite-time containment control for a group of mobile agents modeled by double-integrator dynamics under multiple dynamic leaders with bounded unknown acceleration inputs. First, a distributed finite-time containment protocol is proposed on both the relative position and the relative velocity measurements. This protocol can drive the states of the followers to track the convex hull spanned by those of the leaders in finite time under the constraint that the leaders' acceleration inputs are unknown but bounded for all the followers. Then, a novel position-based containment protocol is designed and analyzed for solving the distributed finite-time tracking problem when both the velocity and acceleration measurements are not available for the followers. Finally, the effectiveness of the results is illustrated by numerical simulation.