Robust second-order finite-time formation control of heterogeneous multi-agent systems on directed communication graphs

This study concentrates on the finite-time (FT) formation control problem for a class of heterogeneous second-order (SO) multi-agent systems (MASs), where disturbance may exist in the dynamics of each agent and the communication graph is directed. First of all, a basic FT formation control protocol is proposed for the nominal SO MAS and the finite convergence time is calculated. To solve the FT fo...