Adaptive finite-time fault-tolerant consensus protocols for multiple mechanical systems

Abstract

This paper investigates the problem of finite-time fault-tolerant consensus protocols for a class of uncertain multiple mechanical systems. On the basis of the recursive design method and finite-time control theory, distributed consensus protocols and adaptive laws are developed by using locally available information. Fuzzy logic systems are employed to approximate the unknown functions. It is proved that if the designed parameters and functions in the protocols and adaptive laws are suitably chosen, the position errors and the velocity errors between any two mechanical systems will converge to a small neighborhood of zero in finite time. Finally, an example is given to demonstrate the effectiveness of the proposed method.