Finite-time output consensus of second-order multi-agent systems with mismatched disturbances via active anti-disturbance control

This paper studies the finite-time output consensus problem of second-order multi-agent systems with both mismatched disturbances and unknown state elements. This problem is solved by an active anti-disturbance control (AADC) method, which integrates the disturbance estimation/compensation and the baseline consensus protocols based on feedback control together. To estimate the matched/mismatched disturbances and the agents unknown state elements, a finite-time generalized state observer is constructed for each agent. Based on the distributed adding a power integrator feedback control method, and the estimates of the matched/mismatched disturbances and the systems unknown states, AADC consensus protocols are developed for both leaderless and leader-follower cases. The proposed protocols achieve finite-time consensus of the agents outputs in both cases. Simulation results demonstrate the effectiveness of the proposed consensus algorithms.