Robust finite-time consensus control for Euler–Lagrange multi-agent systems subject to switching topologies and uncertainties
作者：
Highlights：
• A finite-time integral sliding mode (ISM) surface possessing the complete robustness is proposed for disturbance rejection. The complete robustness to the disturbances is guaranteed by removing the reaching phase of sliding mode control.
• Based on the proposed ISM surface, a finite-time consensus control framework consisting of nominal part and discontinuous part is developed.
• For the directed switching topologies, a new finite-time ISM control protocol is developed. The proposed ISM algorithm achieves finite-time consensus convergence even in the presence of external disturbances.
摘要
•A finite-time integral sliding mode (ISM) surface possessing the complete robustness is proposed for disturbance rejection. The complete robustness to the disturbances is guaranteed by removing the reaching phase of sliding mode control.•Based on the proposed ISM surface, a finite-time consensus control framework consisting of nominal part and discontinuous part is developed.•For the directed switching topologies, a new finite-time ISM control protocol is developed. The proposed ISM algorithm achieves finite-time consensus convergence even in the presence of external disturbances.
论文关键词：Euler–Lagrange systems,Finite-time consensus,Switching topology,Integral sliding mode control,Distributed control
论文评审过程：Received 10 May 2022, Revised 20 June 2022, Accepted 26 June 2022, Available online 10 July 2022, Version of Record 10 July 2022.
论文官网地址：https://doi.org/10.1016/j.amc.2022.127367
