This paper addresses the distributed finite-time tracking problem for multiple uncertain mechanical systems with dead-zone input and external disturbances. An observer-based adaptive finite-time consensus protocol is designed, which consists of two steps. Firstly, distributed observers are developed such that all the mechanical systems can obtain the leader’s state in finite settling time. Then, based on backstepping method and adding a power integrator technique, the finite-time consensus protocol and appropriate adaptive laws are designed to track the estimated leader’s state. Rigorous proofs show that the tracking errors between each mechanical system and the leader can converge to a small neighborhood of origin in finite time despite the presence of dead-zone nonlinearity and external disturbances. Finally, simulation example is provided to demonstrate the effectiveness of the proposed scheme.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.