Robust finite-time consensus control for Euler–Lagrange multi-agent systems subject to switching topologies and uncertainties

Abstract

Euler–Lagrange (EL) system is a typical nonlinear system widely used to model robot systems. Although consensus of EL multi-agent systems has been extensively studied in recent years, how to achieve better consensus performance under constraints such as switching topologies and uncertainties is still an open issue. Aiming at fast convergence and effective disturbance rejection, this paper studies the integral sliding mode control problem for robust finite-time consensus of EL multi-agent systems subject to switching topologies and uncertainties. A basic integral sliding mode control (SMC) scheme is first presented for finite-time consensus of EL multi-agent systems subject to undirected topologies and uncertainties. It is shown that the proposed consensus protocol reaches good disturbance rejection and achieves robust finite-time consensus while avoiding the singularity problem in the existing studies. The proposed integral sliding mode control scheme is further extended to finite-time consensus of EL multi-agent systems subject to directed and switching topologies. Compared with the existing algorithms, faster finite-time convergence is achieved. In the simulation studies, the obtained results demonstrate the effectiveness and efficiency of the proposed algorithm.