Finite-Time Consensus Tracking Control for Euler-Lagrange Groups

In this paper, consensus tracking control problems for Euler-Lagrange systems are considered. A finite time consensus tracking algorithm for directed formation is designed by fast terminal sliding mode control. Lyapunov theorem is prepared for convergence analysis. It is showed that the consensus is reached on the generalized position and velocity coordinate even if the reference signal is available to only a part of the team. The reference signal is time-varying. In presence of external disturbance, the proposed algorithm is robust. Furthermore, the proposed algorithm can get faster convergence than algorithm based on terminal sliding mode control. Simulation results show advantages of the proposed algorithm.