Finite-time leader-follower consensus of a discrete-time system via slidingmode control

In this study,we solve the finite-time leader-follower consensus problem of discrete-time second-order multi-agent systems(MASs)under the constraints of external disturbances.First,a novel consensus scheme is designed using a novel adaptive sliding mode control theory.Our adaptive controller is designed using the traditional sliding mode reaching law,and its advantages are chatter reduction and invariance to disturbances.In addition,the finite-time stability is demonstrated by presenting a discrete Lyapunov function.Finally,simulation results are presented to prove the validity of our theoretical results.