Finite-time consensus for second-order multi-agent systems with disturbances by integral sliding mode

This paper investigates the distributed finite-time consensus problem of second-order multi-agent systems (MAS) in the presence of bounded disturbances. Based on the continuous homogeneous finite-time consensus protocol for the nominal MAS, the discontinuous or continuous integral sliding mode (ISM) protocols are respectively developed to achieve accurate finite-time consensus in spite of the disturbances. Simulation results validate the effectiveness of the proposed scheme.