Adaptive finite-time consensus of nonlinear multi-agent systems with unknown dynamics and disturbances
Xiaolei Li, Jian‐Ge Wang, Xiaoyuan Luo · 2017
This paper investigates the finite-time consensus problem of nonlinear multi-agent systems (MAS) in the presence of friction and external disturbances on directed graph. A nonsingular fast terminal sliding mode manifold is proposed to provide fast consensus convergence and high precision based on switching method. Then, consider the friction and external disturbances, a distributed finite-time consensus controller is designed by using the adaptive fuzzy approximation. Finally, an example is provided to demonstrate the effectiveness of the proposed consensus approach.