In this paper, the finite-time adaptive consensus stabilization is investigated for unknown nonlinear leaderless multi-agent systems with unknown output dead-zone. Different from the previous results on the multi-agent systems with unknown dead-zone, the dead-zone nonlinear is researched in the output channel. By using the recursive backstepping design method and the universal approximation ability of fuzzy logic systems, a local controller for each follower is constructed. Meanwhile, a Lyapunov-based logic switching rule is applied to handle the unknown control gain problems aroused by the output dead-zone nonlinearities. It is, thus, shown that the established adaptive control protocol can assure the finite-time state synchronization of each node. Besides, the state synchronization error between any adjacent followers also converges to a small region of zero when time tends to T 0. Finally, the two simulations are conducted to further verify our theoretical results. INDEX TERMS Multi-agent systems, finite-time stability, synchronization tracking, adaptive backstepping, unknown output dead-zone.

This paper presents a wave-based bilateral teleoperation structure to reduce the wave reflection and enhance the force and speed tracking performance through adjusting the relative parameters. A time domain passive approach is also applied to deal with the passivity of whole system even with non passive environment. The efficiency of the proposed method is confirmed by some experimental results.

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