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

Circuits, Systems, and Signal Processing（2024）

Abstract

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.

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Key words

Matrix-weighted digraphs,Networked heterogeneous robotic systems (NHRSs),Fast finite-time hierarchical control algorithm (HCA),Output bipartite tracking

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