Finite-Time Consensus Algorithm for Multiple Nonholonomic Disturbed Systems with Its Application

Abstract EN

This paper deals with the problem of finite-time consensus of multiple nonholonomic disturbed systems.

To accomplish this problem, the multiple nonholonomic systems are transformed into two multiple subsystems,and these two multiple subsystems are studied, respectively.

For these two multiple subsystems, the terminalsliding mode (TSM) algorithms are designed, respectively, which achieve the finite-time reaching of sliding surface.

Next, a switching control strategy is proposed to guarantee the finite-time consensus of all the states for multiplenonholonomic systems with disturbances.

Finally, we demonstrate the effectiveness of the proposed consensusalgorithms with application to multiple nonholonomic mobile robots.