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In this paper, the finite-time consensus protocols are designed to solve the problems of unmeasured velocity and disturbances in heterogeneous multi-agent systems, in which the communications among agents are described by a directed graph. The proposed consensus protocols use only position measurements. The velocity of the agents is estimated according to the position measurements of multi-agent systems. The integral sliding mode control is adopted to eliminate the bounded disturbances of the systems and shorten the time to achieve consensus. The sufficient conditions for finite-time consensus are obtained by employing Lyapunov stability theory. Finally, simulations are provided to verify the effectiveness of the proposed schemes.

Finite-Time Consensus of Heterogeneous Multi-Agent Systems Without Velocity Measurements and With Disturbances via Integral Sliding Mode Control