Distributed finite-Time tracking of secondorder multi-Agent systems: An edge-based approach

Distributed finite-Time tracking problem of a multi-Agent system with second-order non-linear dynamics is studied in this article. Based on measurements of edges, a finite-Time tracking protocol is proposed without relying the complete position and velocity measurements. It means that the proposed protocol only requires a binary information between the neighbouring agent. By designing a carefully constructed Lyapunov function, the distributed finite-Time tracking problem is solved if the subtopology among the followers is connected and undirected and the topology of whole systems has a spanning tree with a leader been a root node. Furthermore, it has successfully estimated the finite settling time in theory with the proposed control protocol. The authors provide a numerical example to illustrate the effectiveness of the analytical results.