Finite-Time Consensus for Multiple Mechanical Systems With Actuator Faults and Dead-Zone Input

This paper addresses the finite-time consensus problem in multiple mechanical systems affected by external disturbances, dead-zone input, and actuator faults. Initially, we introduce a linear time-varying model to manage the challenges posed by the interaction between dead-zone input and actuator faults. Building on this foundation, we propose a finite-time consensus algorithm that incorporates the technique of adding a power integrator. Our presented consensus control strategy enables flexible adjustment of actuator faults and dead-zone parameters based on system performance. Through rigorous theoretical analysis, we demonstrate that the consensus tracking errors can converge to a small bounded region around equilibrium point within a finite time. Finally, simulation results are carried out to validate the efficacy of the designed methodology.