Finite-time leader-follower consensus control of multiagent systems with mismatched disturbances

We study the robust finite-time leader-follower output consensus problems for second-order multiagent systems (MASs) with mismatched disturbances. For mismatched disturbance, the mismatched disturbance observer is used for each follower to estimate the mismatched disturbance in finite time. Then a backstepping control protocol is constructed via Lyapunov finite-time stability theorem, and we can prove that the output consensus tracking with strong robustness can be reached for the considered MAS in finite time if the communication topology includes a directed spanning tree, where the leader is the root. Finally, we use two simulation examples to illustrate the correctness of the theoretical results.