Finite-time tracking consensus for Networked Euler-Lagrange Systems with uncertainties

This paper investigates the distributed finite-time tracking consensus problem of Networked Euler-Lagrange (EL) Systems with uncertainties. Based on the homogeneous finite-time control algorithm, the discontinuous and continuous super-twisting protocols upon integral sliding mode algorithm are respectively developed to achieve finite-time tracking consensus of Networked EL Systems in spite of the disturbances. Simulation results versifies the effectiveness of the proposed algorithms.