Finite-Time Containment Control of Nonlinear Multi-Agent Systems with Non-Singular Terminal Sliding Mode

This paper is concerned with finite-time containment control problem for second-order nonlinear multi-agent systems with multiple dynamic leaders. Two new containment control protocols are developed to ensure that all followers converge to the dynamic convex hull spanned by the dynamic leaders in a finite time based on the terminal sliding mode and non-singular terminal sliding model, respectively. Moreover, the non-singular terminal sliding mode method is used to eliminate the singular problem associated with the terminal sliding mode control. Criteria on the existence of desired containment control protocols are also derived. Furthermore, the settling time is estimated under the proposed protocols. Simulation results illustrate the effectiveness of the developed theory in the last.