Disturbance rejection based consensus controller for swarm system
Abhishek Dixit,
Pooja Agrawal,
Ajay Misra
Abstract:This article introduces a robust controller designed to facilitate consensus among leader-follower agents in a swarm system. The method employs algebraic graph theory to establish a consensus framework and incorporates a sliding surface-based uncertainty and disturbance estimator (SUDE) to mitigate the effects of nonlinearities, external disturbances, and parametric uncertainty inherent in swarm systems. The stability of the SUDE controller is examined using Lyapunov theory. Importantly, this approach operates… Show more
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