Robust Finite-Time Consensus Tracking Algorithmfor Multirobot Systems

Abstract

This paper studies the finite-time consensus track- ing control for multirobot systems. We prove that finite-time consensus tracking of multiagent systems can be achieved on the terminal sliding-mode surface. Also, we show that the proposed error function can be modified to achieve relative state devia- tion between agents. These results are then applied to the finite- time consensus tracking control of multirobot systems with in- put disturbances. Simulation results are presented to validate theanalysis. Index Terms—Finite-time consensus, multiagent systems, mul-tirobot systems, terminal sliding-mode (TSM) control.