Adaptive consensus tracking of multi-robotic systems via using integral sliding mode control

Abstract

The finite-time consensus tracking of multi-robotic systems with disturbances is investigated via utilizing integral sliding mode control (ISMC) in this article. The main focus of this article is on designing consensus tracking protocols. Firstly, combined with Lyapunov stabilization theory, a continuous super-twisting (ST) consensus protocol is proposed to obtain the sufficient condition, which can guarantee the accuracy consensus of multi-robotic systems in the presence of disturbances in finite-time. Secondly, the adaptive mechanism and ISMC are integrated for multi-robotic systems without the prior knowledge of disturbances. It is easy to find that it can prevent the limited growth of the switching gain. In addition, the disturbance of multi-robotic systems can be estimated by designing a fascinating disturbance observer. The consensus tracking of multi-robotic systems can be assured in finite-time. Finally, the effectiveness of the presented adaptive ISMC strategy is demonstrated by two numerical examples.