Finite-time Consensus of Heterogeneous Multi-agent Systems by Integral Sliding Mode Control

This paper proposes the finite-time consensus problem for heterogeneous multi-agent systems (HMASs) with second-order linear and nonlinear agents, where the communication between agents is described by directed graphs. Firstly, the integral sliding mode control (ISMC) protocol is designed, and then it is used for finite-time consensus tracking of HMASs. In the next place, by applying graph theory, Lyapunov techniques, and other mathematical methods, it is shown that each agent in heterogeneous system can achieve consensus in finite-time if certain conditions are fulfilled, most notably by using Lyapunov stability theory to obtain sufficient conditions for finite-time consensus. Eventually, simulations are utilized to demonstrate the validity of the presented theoretical results.