Distributed adaptive formation control for non‐identical non‐linear multi‐agents systems based on sliding mode

Abstract

This study investigates the distributed control strategy for handling the time-invariant and time-varying formation tracking problem of a class of non-linear nonidentical leader-follower multi-agent systems with uncertainties and unknown external disturbances. Firstly, the neighbour-based distributed finite-time observers are proposed for the followers to estimate the position and velocity of the leader. Then, two novel distributed adaptive formation control algorithms based on the approximation capability of neural networks and sliding mode are developed. One can prove that, with the proposed observer and the control laws, all the followers will reach the desired time-invariant or time-varying formation tracking, and achieve the consistent velocity with the leader in spite of uncertainties and disturbances. Finally, illustrative simulation examples are given to verify the effectiveness of the obtained theoretical results.

Distributed time-varying formation control with uncertainties based on an event-triggered mechanism

“…Zhu et al [21] studied the event-triggered formation control of MASs in which the communication topology was described by complex-valued Laplacian. Wang et al [22,23] investigated the formation problem for general linear systems based on sliding mode control.…”

Bipartite tracking consensus of linear multi‐agent systems with a dynamic leader under signed digraph

“…In the last few years, the coordination problem of multi‐agent systems has received a tremendous amount of attention from various disciplines due to its wide applications in various practical systems, for instance rendezvous [1–3], formation control of multiple robots [4–7], cluster [8, 9], flocking [10–12] and sensor networks [13–15]. In the field of the coordination problem, the consensus problem is one of the fundamental and important problem among all the issues of multi‐agent systems.…”

Fuzzy inferencing‐based path planning with a cyber‐physical framework and adaptive second‐order SMC for routing and mobility control in a robotic network

“…A robust SOSMC using only the calculation of relative configurations has been proposed to control the leader-follower formation between the robots in [34]. The finite-time fast terminal SMCbased tracking protocol has been presented for a linear timeinvariant multi-agent system in [35]. Similarly, a resource optimal sliding mode based event-triggered algorithm has been proposed in [36,37] for a multi-robot system in a leader follower-based framework with disturbances.…”