Terminal sliding mode control based finite-time coordinated tracking for disturbed high-order integrator systems

Abstract

In this paper, we study the finite-time coordinated tracking problem for high-order integrator systems with bounded input disturbances under directed communication graphs. It is assumed that only relative state or output measurements of the neighbors are available for each agent and only a part of the followers have access to the relative state or output information of the dynamic leader. When relative state measurements are available, a bounded distributed finitetime coordinated tracking controller is proposed for each follower based on nonsingular terminal sliding mode control (NTSMC) method. When only relative output measurements are available, robust exact differentiators are employed first to estimate the relative state information. Then a distributed finite-time coordinated tracking controller is designed based on the estimated relative state. Numerical simulations are provided to illustrate the effectiveness of the proposed control strategies.