Finite-time leader-follower consensus of a discrete-time system via sliding mode 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.