Finite-Time Distributed Control of Nonlinear Multiagent Systems via Funnel Technique

This article investigates the finite-time distributed adaptive consensus for nonlinear uncertain multiagent systems (MASs). The performance of the consensus errors can be prespecified in a funnel sense. Three achievements make this work depart from available results on prespecified performance and funnel control: first, a novel error transformation is constructed to prespecify the performance, which avoids the singularity problem pointed out in the literature in the differentiation of the control law; second, the funnel control method is extended in a MAS setting by suitably modifying the backstepping technique in a power integrator sense; and third, it is shown that finite-time stability notions can be attained without extra complexity being involved in the design. Stability analysis and comparative simulations demonstrate the method.