Adaptive sliding mode control of multi-agent relay tracking systems with disturbances. Issue 2 (3rd April 2021)

• Record Type: Journal Article
• Authors: Yu, Deyin; Dong, Lijing; Yan, Hao
• Is Part Of: Journal of control and decision. Volume 8:Issue 2(2021)
• Page Start: 165
• Page End: 174
• Publication Date: 2021-04-03
• Subjects: Multi-agent systems -- switching topologies -- sliding mode controller -- adaptive law -- relay tracking; Control theory -- Periodicals; Decision making -- Periodicals; Robotics -- Periodicals; 003.505
• DOI: 10.1080/23307706.2019.1679045
• Languages: English
• ISSNs: 2330-7706

Abstract

Abstract : This paper studies the switching topologies and tracking agent replacements for a class of nonlinear multi-agent systems with external disturbances. In particular, it is assumed that a number of monitoring agents are randomly deployed in a two-dimensional space. The agents are committed to tracking any intrusion targets in this area. When one of the following agents exits tracking for some reasons, the agent closer to the target joins the tracking team to ensure the number of tracking agents does not change. In order to achieve the successful tracking of the target, this paper designs a sliding mode controller for the relay multi-agent system with tracking agent replacements. Furthermore, an adaptive law is proposed to estimate the upper bound of disturbance in the relay tracking process. Next, the stability of the overall system will be analysed by applying the multiple Lyapunov function method based on the average dwell time. Finally, the effectiveness of the tracking strategy is verified by numerical simulations.