Saturated Finite-Time Control for Uncertain Multi-agent Systems with Uncertainties and Disturbances

Abstract

This paper presents a finite-time formation control scheme that can deal with linearly parametric uncertainties and unknown bounded disturbances. More precisely, the sliding surface is defined based on only the local relative measurements, yields the smooth manifold related to the control problem, the distributed controllers are designed without and with the uncertainties and external disturbances that ensure the finite-time convergence, and the robust control part is derived relies on the estimation technique according to the properties of smoothness and input saturation. To obtain the better performance of multiagent systems, a feasible boundary layer for saturation function is selected in the proposed control algorithm. It is shown that the proposed control can greatly eliminate the chattering effect, and the global uniformly ultimately bounded is ensured. Finally, simulation results are presented to illustrate the dynamical performance of the proposed robust formation control scheme.