Finite-Time Containment Control for Second-Order Multiagent Systems Under Directed Topology

This brief investigates the finite-time containment control for second-order multiagent systems with multiple dynamic leaders under a fixed directed communication topology. In particular, the studied systems are composed of the multiple dynamic leaders with bounded unknown acceleration inputs and the followers with bounded disturbances. A new continuous nonlinear containment control protocol is constructed via a nonsingular terminal sliding-mode scheme. The proposed protocol can effectively drive the states of the followers to track the convex hull spanned by those of the leaders within the finite time.