Adaptive practical fast finite-time consensus protocols for multiple uncertain nonlinear mechanical systems

Mingjie Cai and Zhengrong Xiang

International Journal of Systems Science, 2020, vol. 51, issue 11, 1929-1944

Abstract: In this paper, we study the design of a fast finite-time consensus protocol for multiple nonlinear mechanical systems with uncertainties and disturbance. Combining the theories of finite-time control and algebraic graph, a distributed adaptive fast finite-time consensus protocol is proposed in a recursive design way. In the designed control scheme, the unknown nonlinear functions are modelled by neural networks. With the help of fast finite-time boundedness lemma, the practical finite-time consensus of the multiple mechanical systems is proved. In the end, the validity of the proposed protocol is confirmed by a numerical example of multiple manipulators.

Date: 2020
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DOI: 10.1080/00207721.2020.1780515

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