Finite-Time Output Consensus of Multi-agent Systems with the Heterogeneous Dynamics and Active Leader

This paper studies the finite-time output consensus control of multi-agent systems (MASs) with heterogeneous dynamics and an active leader. A distributed strategy is established through the hierarchical structure constituted by a finite-time dynamic cooperative compensator layer and a finite-time tracking controllers layer. More specifically, the finite-time dynamic cooperative compensators are constructed in a distributed fashion and can realize the finite-time estimation of leader’s states. Then, the finite-time tracking controllers are designed by integrating the dynamic compensators and internal model principle, which can guarantee the finite-time tracking ability of each follower agent to its own compensator. Thus, through these two stages, the output of followers can finally track leader’s in finite time. Moreover, the numerical simulation of the finite-time platoon control of heterogeneous connected vehicles (CVs) is given to verified the developed algorithm.