Adaptive Fault-Tolerant Fast Finite-Time Consensus Protocols for Multiple Mechanical Systems With Output Constraints
针对存在执行器故障和时变非对称输出约束的不确定非线性多机械系统，提出一种分布式自适应有限时间一致性协议，保证位置和速度误差在有限时间内收敛。
In this article, we discuss fast finite-time consensus (FFTC) problems for uncertain nonlinear multiple mechanical systems with actuator faults and time-varying asymmetric output constraints. In order to guarantee the constraints are satisfied, an appropriate nonlinear mapping (NM) is employed to transform the original system with output constrains into an corresponding unconstrained one. Combining neural networks technology, graph theory, fast finite-time control theory, and backstepping technology, the actuator faults are considered to propose a distributed adaptive finite-time consensus (FTC) protocol, which can guarantee the position errors as well as the velocity errors reaching a region in finite time. Finally, an illustrative example is presented to support the obtained theoretical results.