Distributed tracking for mechanical systems using second-order sliding-modes

In this paper, the second-order sliding-mode super-twisting controller is modified to provide distributed tracking for mechanical systems. The distributed tracking is ensured by the proposed controller after a finite-time transient. The controller ensures the exact tracking of leader's position in spite of bounded external disturbances. The corresponding conditions for the distributed tracking and for the simultaneous consensus are studied. The convergence of the tracking error to zero is proven by Lyapunov methods. Simulations show the workability of the proposed method.