Finite-Time Consensus Control of Euler-Lagrange Multi-agent Systems in the Presence of Stochastic Disturbances and Actuator Faults

This article discusses a finite-time fault-tolerant consensus control for stochastic Euler-Lagrange multi-agent systems.
First, the finite-time consensus controller of Euler-Lagrange multi-agent systems with stochastic disturbances is presented. Then, the proposed controller is extended as a fault-tolerant controller in the presence of faults in the actuators. In these two cases, the sliding-mode distributed consensus controllers are designed.
The results section is the most important part of the abstract and nothing should compromise its range and quality. This is because readers who peruse an abstract do so to learn about the findings of the study. The results section should therefore be the longest part of the abstract and should contain as much detail about the findings as the journal word count permits.
The proposed theorems in this paper guarantee that the consensus tracking errors are bounded in probability and after a finite-time remain in a desired area close to the origin in the mean-square senses. The obtained theorems were applied to consensus control of the robotic manipulators to indicate the performance of the proposed controllers.