Distributed Robust Finite-time Non-linear Consensus Protocol for High-order Multi-agent Systems via Coupled Sliding Mode Control

This paper proposes a robust finite-time distributed tracking control problems for n-order non-linear multi-agent systems with a virtual leader in the presence of bounded disturbances and model uncertainties. The proposed algorithm is based on coupled n-order non-linear terminal sliding mode control which ensures the convergence of the agent's states to the virtual leader. The task is achieved in finite time by exploiting only local information. Thanks to the proposed non-singular terminal sliding mode control function, the derivatives of terms with fractional powers could not appear in the control law. Thus the control singularities could be avoided. Furthermore, the proposed terminal sliding mode control removes the chattering phenomenon by using a low-pass filter. Finally, numerical simulations are provided to demonstrate the effectiveness of the proposed solution.