针对多智能体系统的有限时间包容控制只是将跟随者控制在领导者的凸包内, 没有对跟随者实现一致性控制的问题, 提出一种分段函数形式的有限时间收敛的包容一致性控制算法; 另外, 考虑到速度信息未知情况, 设计了速度观测器用来估计速度信息, 并通过李雅普诺夫第二定理和齐次性有限时间稳定性定理分别证明了领导者能对跟随者实现有限时间包容控制, 且跟随者能够实现有限时间一致。最后通过大量的数值仿真证明了控制算法的有效性。

The finite-time containment control for multi-agent systems only enables the followers be in the leader's convex hull, which does not realize the consensus control of the followers.To solve the problem, a containment consensus control algorithm in the form of piecewise function with finite-time convergence is proposed.In addition, in view of the unknown velocity information, a velocity observer is designed to estimate the velocity information.Through Lyapunov's second theorem and homogeneous finite-time stability theorem, it is proved that the leaders can realize finite-time containment control of the followers and the followers can achieve finite-time consensus.Finally, the effectiveness of the control algorithm is proved by a large number of numerical simulations.