Fully distributed finite-time leader-following control for high-order integrator systems with directed communication graphs

In this paper, we study the finite-time leader-following control problem for a network of high-order integrator systems with a dynamic leader under general directed communication graphs. It is assumed that only relative states are available for each follower and no global information about the communication topology such as the eigenvalues of the Laplacian matrix is available for the controller design. Employing adaptive control and sliding-mode control techniques, a distributed finite-time coordinated tracking controller is designed using only local information. A numerical simulation is provided to illustrate the effectiveness of the proposed control strategy.