Fast terminal sliding mode control for a nonlinear multi-agent robot system with disturbance

Abstract

This paper addresses the consensus control problem for a nonlinear multi-agent robot system in the presence of external disturbances. Robot system is one of the most important practical systems in the industry. Because of the presence of disturbances in most practical systems, this paper considers the issue of finite-time consensus control of the nonlinear multi-agent robot system in the presence of unknown bounded disturbance. The modified terminal sliding mode control method is suggested for the system which is able to guarantee the stability of the overall system and fast finite-time consensus control purpose. In two different scenarios, the simulation of multi-agent robot system has been performed. The results show the effectiveness of the proposed control method on the multi-agent robot system.

Keywords

• robot system
• multi-agent system
• sliding mode control
• finite-time consensus control