Finite-time consensus of second-order multi-agent connectivity preserving based on adaptive sliding mode control

Abstract

This study addresses the problem of robust finite-time connectivity preserving consensus for second-order multi-agent systems (MASs) with a limited communication range. Considering that the communication ability of agents in practical applications is limited, this study introduces an innovative approach to the consensus protocol, which involves the incorporation of a potential function aimed at ensuring sustained communication connection within a MAS. In addition, a finite-time fault-tolerant consensus protocol for a second-order MAS with actuator additive faults and external disturbances is designed by combining sliding mode control (SMC) and adaptive control. Following the homogeneous theorem and the finite-time consensus theory, this study concludes that, under specific conditions, a MAS can achieve finite-time consensus. Moreover, an advanced control protocol named a super-twisting sliding mode control protocol is introduced to mitigate the undesirable chattering phenomenon in the SMC. Finally, the effectiveness and superiority of the proposed method are verified by numerical examples.