Finite-time consensus for second-order multi-agent systems with disturbances by integral sliding mode

Yu, Shuanghe; Long, Xiaojun

doi:10.1016/j.automatica.2015.02.001

Cited by 393 publications

(192 citation statements)

References 56 publications

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“…The communication topologies of such a system can be modelled using the theory of algebraic graph [15,32]. Define a directed graph G = (V, E) composed of a vertex set V and an edge set E, where V = fv 1 , v 2 , ¢¢¢, v N g, E µ V£V, the node v i denotes the ith agent and i = 1, 2, ¢¢¢, N. This paper investigates the directed graph in the multi-agent system.…”

Section: Communication Topologiesmentioning

confidence: 99%

“…Two solutions can be summarized from those works. 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].…”

Section: Introductionmentioning

confidence: 99%

“…Some successful applications of the integral SMC method have been reported in industries, for example, power systems [29], hypersonic vehicles [30] as well as multi-agent systems [15,31,32].…”

mentioning

confidence: 99%

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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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Section: Communication Topologiesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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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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“…Moreover, two consensus problems were solved under a switching topology, which was assumed to be uniformly connected only [15]. Otherwise, the aforementioned works not only focused on first-order and second-order systems [16], but also focused on EulerLagrange models [17,18] and even took the time delay and noises into account [19,20].…”

Section: Introductionmentioning

confidence: 99%

Distributed Tracking Control for Discrete-Time Multiagent Systems with Novel Markovian Switching Topologies

Wang

Zhou

2017

Discrete Dynamics in Nature and Society

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Distributed discrete-time coordinated tracking control problem is investigated for multiagent systems in the ideal case, where agents with a fixed graph combine with a leader-following group, aiming to expand the function of the traditional one in some scenes. The modified union switching topology is derived from a set of Markov chains to the edges by introducing a novel mapping. The issue on how to guarantee all the agents tracking the leader is solved through a PD-like consensus algorithm. The available sampling period and the feasible control gain are calculated in terms of the trigonometric function theory, and the mean-square bound of tracking errors is provided finally. Simulation example is presented to demonstrate the validity of the theoretical results.

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“…Apart from this advantage, finite-time control system has other good point: faster convergence, better robustness [1,9,15,24,33,30]. For the tracking control problem of nonholonomic mobile robot systems, some finite-time control laws have been proposed [12,23,25,31].…”

Section: Introductionmentioning

confidence: 99%

Finite-time tracking control of multiple nonholonomic mobile robots with external disturbances

Ou¹,

Gu²,

Wang³

et al. 2016

Kybernetika

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Finite-time consensus for second-order multi-agent systems with disturbances by integral sliding mode

Cited by 393 publications

References 56 publications

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

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

Distributed Tracking Control for Discrete-Time Multiagent Systems with Novel Markovian Switching Topologies

Finite-time tracking control of multiple nonholonomic mobile robots with external disturbances

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