Finite-Time Observer-Based Leader-Following Consensus for Nonlinear Multiagent Systems With Input Delays.

This article studies the finite-time observer-based leader-following consensus problem for a class of nonlinear multiagent systems with nonuniform time-varying input delays. Existing works usually assume that input delays are the same constants and the input of the leader is available for each follower. In this article, we propose a new distributed consensus algorithm to relax the conservative condition. A novel finite-time distributed observer is designed for each follower, which can accurately estimate the state information of the leader in a setting time. By means of the observer, the distributed controller is proposed for each follower, and it depends only on the state information of the follower and the estimated-state information of its neighbor agents. Based on the Lyapunov stability theory, it is strictly proved that all agents can achieve a consensus. Finally, the effectiveness of the theoretical results is verified by numerical simulation on a group of single-link manipulators.