Fast Finite-Time Tracking Consensus With Applications on Multiple Servo Motors

This article focuses on the fast finite-time tracking consensus for uncertain nonlinear multiagent systems. By gracefully combining the hierarchical decomposition, adding a barrier power integrator and disturbance compensation techniques, a new adaptive fast finite-time controller is proposed. Compared with the existing works, the proposed method has several distinguishing features: 1) It can achieve fast finite-time convergence with full state constraints; 2) it can deal with some fully unknown nonlinearities and state-dependent disturbance. Moreover, the nonlinearities can be related with the states of all the followers; 3) the input of the leader is not required to be zero, meaning a broad class of references signals can be generated; and 4) the controller is computationally simply and ready to be implemented. No fuzzy logic/neural networks are needed. Applications of the proposed method on multiple servo motors are also studied.