Adaptive practical fast finite-time consensus protocols for multiple uncertain nonlinear mechanical systems

In this paper, we study the design of a fast finite-time consensus protocol for multiple nonlinear mechanical systems with uncertainties and disturbance. Combining the theories of finite-time control and algebraic graph, a distributed adaptive fast finite-time consensus protocol is proposed in a recursive design way. In the designed control scheme, the unknown nonlinear functions are modelled by neural networks. With the help of fast finite-time boundedness lemma, the practical finite-time consensus of the multiple mechanical systems is proved. In the end, the validity of the proposed protocol is confirmed by a numerical example of multiple manipulators.