Fast Finite-Time Output Bipartite Tracking of Networked Heterogeneous Robotic Systems with Matrix-Weighted Digraphs

The fast finite-time output bipartite tracking of networked heterogeneous robotic systems with matrix-weighted digraphs, parametric uncertainties and external disturbances is studied in this article. Besides, solving the fast finite-time bipartite tracking problem in this paper implies that the system states are forced to reach the employed nonsingular finite-time sliding surface in a predefined time, which thus called fast finite-time control. To address the aforementioned issues, a fast finite time hierarchical control algorithm utilizing estimator methodologies are proposed. The Lyapunov stability theory is used to derive some sufficient requirements for performing output bipartite tracking in a fast finite time manner. To verify that the theoretical results are valid, numerical simulation examples are given.