Disturbance observer-based sliding mode control for multi-agent systems with mismatched uncertainties. Issue 5 (19th September 2018)

• Record Type: Journal Article
• Authors: Wang, Qing; Sun, Changyin; Chai, Xiaofeng; Yu, Yao
• Is Part Of: Assembly automation. Volume 38:Issue 5(2018)
• Page Start: 606
• Page End: 614
• Publication Date: 2018-09-19
• Subjects: Sliding mode control -- Multi-agent system -- Chattering reduction -- Disturbance observer -- Finite-time consensus -- Mismatched uncertainties; Automation -- Periodicals; Automatic machinery -- Periodicals; Assembly-line methods -- Periodicals; Industrial engineering -- Periodicals; 670.42705
• DOI: 10.1108/AA-12-2017-181
• Languages: English
• ISSNs: 0144-5154

Abstract

Abstract : Purpose: This paper aims to develop sliding mode control (SMC) methods for second-order multi-agent systems (MAS) in the presence of mismatched uncertainties. Design/methodology/approach: Based on the disturbance observer (DOB), discontinuous and continuous sliding mode protocols are designed to achieve finite-time consensus in spite of the disturbances. Findings: Compared with integral SMC, numerical simulation results show that the proposed control methods exhibit better performance with respect to reduction of chattering. Originality/value: The main contributions are the following: MAS described with mismatched uncertainties are considered; both discontinuous and continuous sliding mode controllers are considered; with the proposed sliding mode controller, the desired sliding surface can be reached in finite time and the DOB is introduced in the controller to alleviate the chattering phenomenon.