Nonsingular adaptive finite-time consensus control for uncertain nonlinear multi-agent systems with input quantization

This paperinvestigates the distributed consensus control for nonlinear multi-agent systems with input quantization in a directed communication topology. A nonsingular adaptive finite-time control (NAFTC) scheme is proposed by combining the filtered backstepping method with neural network control. Both chattering and singularity problems of the control signals are avoided thanks to its C 1 continuity, so that the contradiction between discontinuous- and C 0 continuous finite-time control with input quantization does not exist in our scheme. At the same time, a novel inequality for the input-output relationship of hysteresis quantizer is derived, which can simply handle the input quantization without requiring additional stability analysis. What is more, some common assumptions, such as Lipschitz assumption and Holder-continuity assumption, are not required in our scheme. Finally, stability analysis and numerical simulation are provided.