In this paper, we study the design of a fast finite-time consensus protocol for multiple nonlinear mechanical systems with uncertainties and disturbance. Combining the theories of finite-time control and algebraic graph, a distributed adaptive fast finite-time consensus protocol is proposed in a recursive design way. In the designed control scheme, the unknown nonlinear functions are modelled by neural networks. With the help of fast finite-time boundedness lemma, the practical finite-time consensus of the multiple mechanical systems is proved. In the end, the validity of the proposed protocol is confirmed by a numerical example of multiple manipulators.

中文翻译：

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多不确定非线性机械系统的自适应实用快速有限时间共识协议

在本文中，我们研究了具有不确定性和扰动的多个非线性机械系统的快速有限时间一致性协议的设计。结合有限时间控制和代数图的理论，以递归设计的方式提出了一种分布式自适应快速有限时间共识协议。在设计的控制方案中，未知非线性函数通过神经网络建模。借助快速有限时间有界引理，证明了多机械系统的实用有限时间一致性。最后，通过多机械手的数值例子证实了所提出协议的有效性。