Second order twisting sliding mode control of multi-agent network with input disturbance

Sliding mode control is studied and inspected with the Leader-Follower finite-time formation control of multi-agent networks with input disturbances and problem formulations are verified in Matlab simulation. Twisted sliding mode control system is used to design the distributed control law. A new twisted sliding mode surface is put forward for consideration to guarantee finite-time consensus under fixed topology, with the common assumption that the position and only directed connected few neighbors knows the velocity of the active leader. Finite-time Lyapunov stability theorem is used here to show that if the directed graph of the network has a directed spanning tree, then the twisted sliding mode control law can guarantee finite-time consensus even under the assumption that the time-varying control input of the active leader is unknown to any follower.