Finite-Time Output Consensus of Higher-Order Multiagent Systems With Mismatched Disturbances and Unknown State Elements

Abstract

This paper studies the finite-time output consensus problem of higher-order multiagent systems subject to both mismatched disturbances and unknown state elements, where the disturbances are allowed to be fast time-varying. To solve this problem, an active anti-disturbance control approach is developed based on the disturbance estimation/compensation and the baseline feedback consensus protocols. First, to estimate the matched/mismatched disturbances and the agents unknown state elements, a finite-time generalized state observer is constructed for each agent. Second, by integrating the distributed adding a power integrator feedback control method and the estimates of the matched/mismatched disturbances and the agents unknown state elements together, composite consensus protocols are developed for both leaderless and leader–follower cases. In both cases, the proposed protocols guarantee that the agents outputs reach consensus in finite time. Simulations show the effectiveness of the proposed consensus algorithms.