Leader–follower consensus control for a nonlinear multi-agent robot system with input saturation and external disturbance

摘要

This paper addresses the leader–follower consensus control problem for a nonlinear multi-agent robot system with control input constraint and external disturbances. Robot system is one of the most important practical systems in the industry. Due to the presence of disturbances in most practical systems, this paper considers the issue of finite-time leader–follower consensus control of the nonlinear multi-agent robot system along with actuator saturation and bounded disturbance. The modified terminal sliding mode control method is suggested for the system which is able to guarantee the stability of the overall system and fast finite-time leader–follower consensus control. For two different scenarios, the simulation of multi-agent robot system has been performed. The results show the effectiveness of the proposed control method.