This paper proposes a finite-time consensus control algorithm based on nonlinear integral sliding-mode control for second-order multi-agent systems (MASs) with mismatched and matched disturbances. Firstly, a nonlinear finite-time disturbance observer is established to estimate the states and mismatched disturbances of the agent. Secondly, a dynamic integral sliding-mode (ISM) surface is designed by employing the estimates of mismatched disturbances. Then, based on the designed ISM and disturbance observer, the discontinuous or continuous campsite control protocols are respectively developed to guarantee the consensus for MASs in finite time with active anti-disturbance control. Finally, numerical simulation results illustrate the effectiveness of the proposed consensus control algorithm.

针对具有不匹配和匹配干扰的二阶多智能体系统，提出了一种基于非线性积分滑模控制的有限时间共识控制算法。首先，建立了非线性有限时间扰动观测器，以估计主体的状态和失配扰动。其次，利用失配扰动的估计来设计动态积分滑模（ISM）表面。然后，基于设计的ISM和干扰观测器，分别开发了不连续或连续的露营地控制协议，以确保在有限时间内通过主动抗干扰控制实现MAS的共识。最后，数值仿真结果说明了所提出的共识控制算法的有效性。