English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

In this paper, finite-time consensus of double-integrator multi-agent systems is investigated. A new adaptive-terminal sliding mode control is proposed to satisfy the goal within a finite time by considering disturbances and input saturation. The problem is solved for two cases. In the first case, the agents are subjected to disturbances with known upper bounds and input saturation parameters. For the case, the control inputs are designed based on a terminal sliding mode technique to achieve the consensus aim within the finite time as a summation of settling and reaching times. Then, a fast terminal sliding mode control is applied and the control inputs are modified to reduce the high dependency of reaching times to initial speeds. In the second case, the upper disturbance bounds are unknown. To handle this problem, the control laws are adopted by an adaptive-terminal sliding mode method. The upper bounds of disturbances are estimated in the finite time. In both cases, the maximum control efforts are adjusted to always be less than the saturation boundary by optional tuning parameters. The proposed methods efficiency is verified by numerical simulations.

Finite-Time Consensus Using an Adaptive Terminal Sliding Mode Control Subjected to Input Saturation