By using the terminal sliding-mode control (TSMC) and the pinning control methods, the fully distributed finite-time consensus problems are investigated for second-order multiagent systems (MASs) and multiquadcopter systems (MQSs) with directed topology. For the second-order MASs, a pinning control scheme is designed by analyzing the outdegree and indegree of nodes, and a TSMC protocol with the local information is proposed to achieve the finite-time consensus. Then, as an application of the MASs, the model of MQSs is constructed and its finite-time attitude consensus is discussed. Finally, the effectiveness of the proposed method is validated by two numerical examples.
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Zhou et al. (2019) studied this question.
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