Finite-time sliding mode coordination control for networked Euler-Lagrange systems

Coordination control problem of networked Euler-Lagrange systems with external disturbance is addressed. The sliding mode surface and coordination control law of networked Euler-Lagrange systems with a dynamic leader under a directed graph is first proposed. It is shown that the followers can track the dynamic leader in finite time. Then leaderless consensus law for networked Euler-Lagrange systems is proposed. Based on algebraic graph theory and Lyapunov stability theory, finite-time stability of the closed-loop system is proven. The simulation results show the feasibility and effectiveness of the proposed control law.