Discontinuous finite-time consensus algorithm for multiple nonholonomic systems with disturbances

A discontinuous finite-time consensus algorithm for multiple nonholonomic systems with disturbances is studied. The nonholonomic systems are transformed into two subsystems with disturbances. Firstly, two integral terminal sliding surface are designed. We will illustrate that, when the sliding surfaces reach zero, the state consensus is achieved in a finite time for the two subsystems respectively. Then, terminal sliding mode(TSM) control laws are designed to guarantee the finite-time reaching of two sliding surfaces. Next, a designed switching control strategy is proposed to guarantee the state consensus for the overall nonholonomic systems. Finally we demonstrate the effectiveness of our proposed controllers with simulation.