Abstract
This paper addresses the fixed-time consensus tracking problem for multi-agent Euler-Lagrange systems in the presence of model uncertainties, external disturbances, and actuator faults. Firstly, a new fixed-time terminal sliding surface is proposed to eliminate the singularity. Secondly, a distributed model-free fixed-time sliding mode control is designed to solve the consensus tracking problem for agents with Euler-Lagrange dynamics. It is proved that the proposed control scheme can ensure that the tracking errors converge to an arbitrary small bound centered on zero within fixed time and then go to zero asymptotically. Simulation and experiments are conducted to verify the effectiveness of the proposed approach.
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