Nonlinear robot system finite time consensus control using an adaptive terminal sliding mode approach in presence of input saturation and external disturbance

摘要

In this paper, finite-time consensus control method is presented for a robot nonlinear multi-agent system. To achieve the goal of finite-time consensus control in the presence of input saturation as well as external disturbance, a new adaptive-terminal sliding mode control method has been proposed. The adaptive method is used to handle an external disturbance with unknown bound, while the terminal sliding mode makes it possible to achieve finite-time consensus and reduce settling and reaching times. In the proposed method, the resulting control signals are always below the saturation range, and of course the external disturbance is estimated in a limited time. The simulation results on nonlinear multi-agent robot system show the optimal performance of the proposed method.