This study addresses the problem of robust finite-time connectivity preserving consensus for second-order multi-agent systems (MASs) with a limited communication range. Considering that the communication ability of agents in practical applications is limited, this study introduces an innovative approach to the consensus protocol, which involves the incorporation of a potential function aimed at ensuring sustained communication connection within a MAS. In addition, a finite-time fault-tolerant consensus protocol for a second-order MAS with actuator additive faults and external disturbances is designed by combining sliding mode control (SMC) and adaptive control. Following the homogeneous theorem and the finite-time consensus theory, this study concludes that, under specific conditions, a MAS can achieve finite-time consensus. Moreover, an advanced control protocol named a super-twisting sliding mode control protocol is introduced to mitigate the undesirable chattering phenomenon in the SMC. Finally, the effectiveness and superiority of the proposed method are verified by numerical examples.

中文翻译：

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基于自适应滑模控制的二阶多智能体连通性保持有限时间共识


这项研究解决了鲁棒的有限时间连接问题，为具有有限通信范围的二阶多智能体系统（MAS）保持共识。考虑到实际应用中代理的通信能力有限，本研究引入了一种创新的共识协议方法，其中涉及合并旨在确保 MAS 内持续通信连接的潜在功能。此外，结合滑模控制（SMC）和自适应控制，设计了具有执行器附加故障和外部干扰的二阶MAS的有限时间容错一致性协议。根据齐次定理和有限时间共识理论，本研究得出的结论是，在特定条件下，MAS 可以实现有限时间共识。此外，引入了一种称为超扭曲滑模控制协议的先进控制协议，以减轻SMC中不良的颤振现象。最后通过数值算例验证了该方法的有效性和优越性。