Finite-time distributed error observer design for multi-agent systems with chaotic or hyper-chaotic dynamics

In this study a distributed error observer is designed in order to estimate the deviation between the states of the leader and follower agents in a chaotic or hyper-chaotic multi-agent system. The proposed algorithm can tolerate bounded uncertainties and disturbances in estimation by tuning the observer parameters. It is assumed that there exist at least one follower which is directly connected to the leader and other followers just have at least one path to it. The finite-time convergence of the observer, regardless of agents' initial conditions, is proven using a set of appropriate Lyapunov functions and the convergence time limit equation is introduced. To show the effectiveness of proposed method simulation results are reported.