A Finite-Time Consensus Using an Adaptive Terminal Sliding Mode Control Subjected to Input Saturation and Unknown Bounded Disturbance


  • Ming Ren
  • Heyan Huang
  • Esmaiel Mirabdollahi Department of Electrical Engineering, Science and Research branch, Islamic Azad University, Tehran, Iran.




Finite-time consensus, terminal sliding mode control, saturation constraint, bounded disturbance.


In this paper, finite-time consensus of double-integrator multi-agent systems is investigated. A new adaptive-terminal sliding mode control is proposed to satisfy the goal within a finite time by considering disturbances and input saturation. The problem is solved for two cases. In the first case, the agents are subjected to disturbances with known upper bounds and input saturation parameters. For the case, the control inputs are designed based on a terminal sliding mode technique to achieve the consensus aim within the finite time as a summation of settling and reaching times. Then, a fast terminal sliding mode control is applied and the control inputs are modified to reduce the high dependency of reaching times to initial speeds. In the second case, the upper disturbance bounds are unknown. To handle this problem, the control laws are adopted by an adaptive-terminal sliding mode method. The upper bounds of disturbances are estimated in the finite time. In both cases, the maximum control efforts are adjusted to always be less than the saturation boundary by optional tuning parameters. The proposed methods efficiency is verified by numerical simulations.