Abstract
This brief investigates the nonsingular terminal sliding model control for a class of multi-agent tracking problems. To eliminate the singularity problem that naturally arises in the design of sliding mode control, a novel continuous function is proposed and applied in the controller. By using the modified controller, the tracking errors can be steered to zero in finite time. Strict stability analysis is presented via the Lyapunov theory, and the convergence time is obtained. Moreover, the finite-time stability and convergence time for multi-agent tracking systems with replacement of agents and error jumps are also investigated. Finally, the novel nonsingular terminal sliding mode control scheme is utilized to a jerk circuit in order to verify its effectiveness as well as its control performance.
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