The authors proposed an arbitrary order finite-time sliding mode control (SMC) design for a networked of uncertain higher-order nonlinear systems. A network of n+1 nodes, connected via a directed graph (with fixed topology), is considered. The nodes are considered to be uncertain in nature. A consensus error-based canonical form of the error dynamics is developed and a new arbitrary order distributed control protocol design strategy is proposed, which not only ensures the sliding mode enforcement in finite time but also confirms the finite time error dynamics stability. Rigorous stability analysis, in closed-loop, is presented, and a simulation example is given, which demonstrates the results developed in this work.

This paper focuses on an integral sliding mode technique-based consensus control protocol design for networked high order uncertain nonlinear systems. The nonlinear agents (nodes), which comprises of a leader and followers are networked via a fixed topology with a directed graph. A consensus among the leader and followers is achieved by first defining consensus error dynamics and then an integral manifold based distributed control protocols are designed. These distributed protocols steer the respective consensus error dynamics to equilibrium even in the presence of uncertainties. The robustness is achieved from the very start of the process by enforcing sliding mode at the initial time instant. The sliding mode enforcement and the closed loop stability analysis are presented in the form of a theorem. The theoretical results are verified via the simulation results of a numerical example.INDEX TERMS Networked control systems, nonlinear systems, robustness, sliding mode control, uncertain systems.