Finite-Time Adaptive Consensus Tracking Control Based on Barrier Function and Cascaded High-Gain Observer

This paper studies the consensus tracking control for a class of uncertain high-order nonlinear multi-agent systems under an undirected leader-following architecture. A novel distributed finite-time adaptive framework is proposed based on barrier function. The cascaded high-gain observers are introduced to solve problem robust with unmeasured intermediate states in framework. schemes guarantee systems, which proven by Lyapunov stability and singular perturbation theory. In conclusion, numerical simulations verify protocols’ effectiveness, their performance advantages shown comparing them another existing method.