Robust finite-time containment control of general linear multi-agent systems under directed communication graphs

In this paper, we study the distributed finite-time containment control problem for general linear multi-agent systems with bounded matched uncertainties under directed communication graphs. In the presence of multiple dynamic leaders, an observer-based distributed controller is proposed such that the states of the followers converge to the dynamic convex hull spanned by those of the leaders in finite time. Only relative state measurement and relative observer state information are needed in the controller design. As the special case with only one dynamic leader, robust finite-time leader-following control problem is also solved with the proposed control strategy. An application in multiple satellites flying control is used to illustrate the results.