Distributed finite-time consensus tracking control for second-order nonlinear multi-agent systems

We will investigate finite-time tracking control for second-order nonlinear multi-agent systems with external disturbances under the fixed directed topology graph. We construct a new continuous nonlinear consensus protocol via nonsingular terminal sliding mode scheme. The proposed protocol can drive the states of the followers to track that of the leader within the finite time. In addition, we explicitly estimate the finite convergence time. The effectiveness of the results is illustrated by the numerical simulation.