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Finite-time tracking control for networked mechanical systems

This paper investigates the finite-time tracking problem for a class of networked mechanical systems with a leader-follower structure. A novel sliding-mode tracking protocol is proposed for the networked mechanical systems with bounded model uncertainties and/or external disturbances by using Lyapunov techniques and graph tools. A new sliding manifold is first derived. A control law is then proposed to ensure convergence to the sliding manifold. Finite time convergence time is estimated. A continuous finite-time control protocol is also suggested for the networked systems with model uncertainties and/or external disturbances. The tracking errors are proved to converge to an arbitrarily small bound around zero in finite time. Simulation results demonstrate the effectiveness of the obtained theoretical results.