Finite-Time Time-Varying Formation Tracking for High-Order Multiagent Systems With Mismatched Disturbances

This paper studies the finite-time time-varying formation tracking problems for high-order multiagent systems (MASs) under the influences of both mismatched disturbances and the leader's unknown input. The outputs of the followers can not only realize the prespecified finite-time formation but also track the desired trajectory generated by the leader in finite time. First, a disturbance observer is designed for every follower to estimate the disturbances in finite time. Then, based on the homogeneous finite-time control, the integral sliding mode control, and the super-twisting algorithm, a distributed formation tracking protocol is presented utilizing the neighboring interaction. The proposed protocol is continuous, so the large chattering of the control inputs can be avoided effectively. Furthermore, it is proved that the desired formation tracking can be realized in finite time by MASs in the presence of mismatched disturbances and the leader's unknown input. Finally, a simulation example is designed to verify the theoretical results.