Adaptive backstepping sliding mode control for leader–follower multi-agent systems

Zhao, Dan; Zou, Tao; Li, S.; Zhu, Quanmin

doi:10.1049/iet-cta.2011.0001

Cited by 95 publications

(78 citation statements)

References 44 publications

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“…A consensus algorithm or protocol is an interaction rule that specifies the information exchange between an agent and all of its neighbours on the network [1]. The works on consensus problem have primarily studied the first-order MAS [2][3][4][5][6][7]. Compared with the first-order MAS, the consensus problem of the secondorder MAS is more difficult and complicated.…”

Section: Introductionmentioning

confidence: 99%

Sliding mode leader‐following consensus controllers for second‐order non‐linear multi‐agent systems

Ren

Chen

2015

IET Control Theory & Applications

126

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This study discusses the asymptotic consensus problem and finite-time leader-following consensus problem of second-order non-linear multi-agent systems (MASs) with directed communication topology. On the basis of the sliding mode control theory, a new distributed asymptotic consensus controller is proposed to ensure that the consensus of MAS can be reached as time goes to infinity. Another finite-time consensus control algorithm is also proposed based on terminal sliding mode control. The finite-time consensus controller can force the states of MAS to achieve the designed terminal sliding mode surface in finite time and maintain on it. The authors also can prove the consensus of MAS can be obtained in finite time on the terminal sliding mode surface if the directed topology has a directed spanning tree. Simulations are given to illustrate the effectiveness of the proposed approaches. IntroductionIn recent years, multi-agent systems (MASs) have attracted great attentions because of the wide practical applications. In many applications, a group of agents which can communicate with their neighbours are required to accomplish some challenging tasks together and the single agent can coordinate with the other agents by sharing its information with its neighbours. If all the agents in the group can reach an agreement, then the agents can reach the consensus. A consensus algorithm or protocol is an interaction rule that specifies the information exchange between an agent and all of its neighbours on the network [1]. The works on consensus problem have primarily studied the first-order MAS [2][3][4][5][6][7]. Compared with the first-order MAS, the consensus problem of the secondorder MAS is more difficult and complicated. As the consensus of second-order systems not only contains the position consensus like in first-order MAS but also contains the velocity consensus. A necessary condition presented in [8] to solve consensus problem of second-order MAS was that the graph had a (directed) spanning tree. The second-order consensus of MAS has been discussed in [9][10][11][12][13][14]. Most of works on MAS have a common feature that their systems are linear, for example [4, 9-11, 15, 16]. The consensus investigation of non-linear systems is more challenging than that of the linear systems. However, non-linearity is ubiquitous in physical phenomena, and many works have been done to research the nonlinear dynamic system, for example [17][18][19][20][21][22] and references therein. A class of non-linear system with unknown constant parameters was discussed in [17] and the backstepping technique was used to solve the robust adaptive failure compensation problem of hysteretic actuators. However, the unknown non-linear parts of the system in [17] were assumed to be linearly parameterised, that is, the unknown non-linear function of the dynamics model could be written in the form of a i f i where a i was the unknown constant and f i was the known non-linear function. In [20][21][22], the completely unknown non-linear dynamics were co...

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Section: Introductionmentioning

confidence: 99%

Sliding mode leader‐following consensus controllers for second‐order non‐linear multi‐agent systems

Ren

Chen

2015

IET Control Theory & Applications

126

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“…The higher generalization ability of the proposed model obtained is beneficial for accurately predicting the number of days before the maintenance is needed for the lathe machines when it is subjected to the three operations (idle run, turning and facing) for the three conditions (overall acoustic, overall vibration and headstock vibration). Future work for authors is to apply more sophisticated variants of neural networks [39][40][41][42][43][44] and evaluate any economic and environmental differences [45,46] based on previous works. …”

Section: Discussionmentioning

confidence: 99%

Model development based on evolutionary framework for condition monitoring of a lathe machine

et al. 2015

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“…One solution is to discuss the formation stability by means of graph theory [15,32]. The other is to analyze the formation stability in light of Lyapunov's theorem [25][26][27][28]31]. To guarantee the formation stability, both solutions have to assume that the formation uncertainties are bounded.…”

Section: Introductionmentioning

confidence: 99%

“…Some SMC-based methods have been addressed to solve the formation-control problem of multi-agent systems, that is, first-order SMC [25,26] [15,[25][26][27][28] have verified the feasibility of the SMC methodology for multi-agent formations.…”

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confidence: 99%

Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode

Qian¹,

Li²

2017

Bulletin of the Polish Academy of Sciences Technical Sciences

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Abstract. This paper investigates the formation control problem of multiple agents. The formation control is founded on leader-following approaches. The method of integral sliding mode control is adopted to achieve formation maneuvers of the agents based on the concept of graph theory. Since the agents are subject to uncertainties, the uncertainties also challenge the formation-control design. Under a mild assumption that the uncertainties have an unknown bound, the technique of nonlinear disturbance observer is utilized to tackle the issue. According to a given communication topology, formation stability conditions are investigated by the observer-based integral sliding mode formation control. From the perspective of Lyapunov, not only is the formation stability guaranteed, but the desired formation of the agents is also realized. Finally, some simulation results are presented to show the feasibility and validity of the proposed control scheme through a multi-agent platform.Key words: multi-agent system, formation control, integral sliding mode control, uncertainty, nonlinear disturbance observer, stability.Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode ysis and design of multiple agent systems. However, the classic leader-following scheme is centralized, meaning that the control systems in [4,6,9,10] heavily depend on the leader and suffer from the "single point of failure'' problem. With the development of communication technology, it is desired to consider the communication topology in the scheme because the adaptability and practicability of multiple agents can be strengthened [15,16].The leader-following scheme gains popularity in multi-agent formations because its dynamics are experimentally modelled, but the internal formation stability can be theoretically guaranteed. Adopting such a scheme, various control methods have been developed for multi-agent formations, that is, robust control [17], dynamic output feedback method [18], adaptive fuzzy approach [19], multi-step predictive mechanism [20], iterative learning technique [21], and neural network-based adaptive design [22], to name but a few. A systematic review on this topic is presented by Oh, Park and Ahn [23].As a nonlinear feedback design tool, the sliding mode control (SMC) technique is popular because of its invariance [24], meaning that matched uncertainties in an SMC system can be suppressed by the invariance. Some SMC-based methods have been addressed to solve the formation-control problem of multi-agent systems, that is, first-order SMC [25,26] [15,[25][26][27][28] have verified the feasibility of the SMC methodology for multi-agent formations.Compared to other SMC methods, the integral SMC design can guarantee an integral SMC system against matched uncertainties from the initial time, indicating that an entire response of the system is of invariance. Some successful applications of the integral SMC method have been reported in industries, for example, power systems [29], hypersonic ve...

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Adaptive backstepping sliding mode control for leader–follower multi-agent systems

Cited by 95 publications

References 44 publications

Sliding mode leader‐following consensus controllers for second‐order non‐linear multi‐agent systems

Sliding mode leader‐following consensus controllers for second‐order non‐linear multi‐agent systems

Model development based on evolutionary framework for condition monitoring of a lathe machine

Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode

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