Zheng, S.Shi, P.Xie, Y.Wang, S.2023-04-052023-04-052023IEEE Transactions on Industrial Electronics, 2023; 70(3):2993-30020278-00461557-9948https://hdl.handle.net/2440/137809This article focuses on the fast finite-time tracking consensus for uncertain nonlinear multiagent systems. By gracefully combining the hierarchical decomposition, adding a barrier power integrator and disturbance compensation techniques, a new adaptive fast finite-time controller is proposed. Compared with the existing works, the proposed method has several distinguishing features: 1) It can achieve fast finite-time convergence with full state constraints; 2) it can deal with some fully unknown nonlinearities and state-dependent disturbance. Moreover, the nonlinearities can be related with the states of all the followers; 3) the input of the leader is not required to be zero, meaning a broad class of references signals can be generated; and 4) the controller is computationally simply and ready to be implemented. No fuzzy logic/neural networks are needed. Applications of the proposed method on multiple servo motors are also studied.en© 2022 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See https://www.ieee.org/publications/rights/index.html for more information.Adaptive control; adding a power integrator; backstepping; finite-time control; state constraintsJournal article10.1109/TIE.2022.31742442023-04-05613898Shi, P. [0000-0001-6295-0405] [0000-0001-8218-586X] [0000-0002-0864-552X] [0000-0002-1358-2367] [0000-0002-5312-5435]