Heterogeneous consensus of higher‐order multi‐agent systems with mismatched uncertainties using sliding mode control. (10th October 2016)

• Record Type: Journal Article
• Authors: Mondal, Sanjoy; Su, Rong; Xie, Lihua
• Is Part Of: International journal of robust and nonlinear control. Volume 27:Number 13(2017)
• Page Start: 2303
• Page End: 2320
• Publication Date: 2016-10-10
• Subjects: multi‐agent systems -- heterogeneous -- super twisting controller -- time‐varying gain -- disturbance estimation; Automatic control -- Periodicals; Control theory -- Periodicals; Nonlinear systems -- Periodicals; 629.836
• DOI: 10.1002/rnc.3684
• Languages: English
• ISSNs: 1049-8923

Abstract

Summary: A robust consensus controller is proposed for heterogeneous higher‐order nonlinear multi‐agent systems, when the agent dynamics are involved with mismatched uncertainties. A distributed consensus protocol based on a time‐varying nonhomogeneous finite‐time disturbance observer and sliding mode control is designed to realize the network consensus of higher‐order multi‐agent systems. The time‐varying finite‐time disturbance observer overcomes the problem of peaking value near the initial time caused by the constant gain one and is designed to estimate the uncertainties and to mitigate the effect of mismatched uncertainties during the sliding mode. To eliminate the chattering phenomenon and ensure finite‐time convergence to the sliding surface, the control law is designed by using the super twisting algorithm. Finally numerical simulations are given to illustrate the validity of the proposed method. Copyright © 2016 John Wiley & Sons, Ltd.