Abstract
In this paper, adaptive finite time consensus control problem is investigated for multiple mechanical systems with uncertainties. New adaptive distributed control algorithms are proposed for the multiple mechanical systems under a switching undirected graph, which is addressed through a novel Markov chain. Without any detailed information of the system model, the adaptive distributed controller has a faster and higher precision tracking performance. It is shown that the states of the mechanical systems can reach a consensus within finite time. And finally, an illustrative simulation on the multiple robotic manipulators is given to demonstrate the effectiveness of the proposed controller.
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