Journal of Qufu Normal University, Volume. 51, Issue 3, 31(2025)

Group finite-time consensus for networked robot systems

MA Xinru1,2, XIE Yonghao2, WANG Zhaoyan1,2, MA Xiaocui1, LI Hengyu2, and LIU Jun1、*
Author Affiliations
  • 1School of Computer Science and Engineering, Jining University, 273155, Qufu, Shandong
  • 2School of Mechatronic Engineering and Automation, Shanghai University, 200444, Shanghai, PRC
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    This paper investigates the finite-time group consensus problems for networked multi-Lagrange systems (MLSs)with parameter uncertainty under directed topology. To address the problems of nonlinear Lagrange dynamics with parameter uncertainty,the paper proposes adaptive finite-time control protocols by introducing two types of sliding vectors. The results show that the given sliding control in the paper solves the nonlinear problems of the MLSs under the group networks and ensures the finite-time consistent convergence of the system. Under the group topology,the networked MLSs are distributed to achieve group finite-time consensus. Finally,the simulation results illustrate the feasibility of the control protocol,and show the effectiveness of the finite-time control methods.

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    MA Xinru, XIE Yonghao, WANG Zhaoyan, MA Xiaocui, LI Hengyu, LIU Jun. Group finite-time consensus for networked robot systems[J]. Journal of Qufu Normal University, 2025, 51(3): 31

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    Paper Information

    Received: Apr. 25, 2023

    Accepted: Aug. 25, 2025

    Published Online: Aug. 25, 2025

    The Author Email: LIU Jun (sdwslj@163.com)

    DOI:10.3969/j.issn.1001-5337.2025.3.031

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