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Mathematical Problems in Engineering - Volume 2015 2015, Article ID 358161, 10 pages -

Research Article

School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China

Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing 210096, China

Received 4 February 2015; Accepted 4 April 2015

Academic Editor: Thierry Floquet

Copyright © 2015 Shang Shi et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper deals with the problem of finite-time consensus of multiple nonholonomic disturbed systems. To accomplish this problem, the multiple nonholonomic systems are transformed into two multiple subsystems,and these two multiple subsystems are studied, respectively. For these two multiple subsystems, the terminalsliding mode TSM algorithms are designed, respectively, which achieve the finite-time reaching of sliding surface. Next, a switching control strategy is proposed to guarantee the finite-time consensus of all the states for multiplenonholonomic systems with disturbances. Finally, we demonstrate the effectiveness of the proposed consensusalgorithms with application to multiple nonholonomic mobile robots.

Autor: Shang Shi, Xin Yu, and Guohai Liu



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