Finite-Time Consensus Tracking of Perturbed High-Order Agents With Relative Information by Integral Sliding Mode

Adaptive event‐based finite‐time consensus of nonholonomic multi‐agent systems subject to unknown disturbances

“…Remark 4. In existing works involving finite-time consensus disturbance rejection of MASs, [10][11][12][13][14][15] the signum-based term is commonly incorporated into the controller design, where the disturbances are upper bounded by precisely known positive constants or the gains are selected larger than the upper bounds of the disturbances. Therefore, in the case that the upper bounds of the disturbances cannot be obtained in advance, over-estimated gains have to be used, but they commonly induce larger control magnitudes and severe chattering.…”

“…. Theorem 1 in Reference 47 implies that, if the parameter A i = Mi (T 1 ) is large enough with respect to the time-varying disturbance d i2 , then under the sliding mode control (12) and the adaptive mechanism (9), the trajectory of subsystem (20) will remain on the sliding surface S i2 ≡ 0. From t > T 1 , the trajectory of subsystem (20) remains on the sliding surface S i2 ≡ 0.…”

“…Remark 2. In contrast to the works, [6][7][8][9][10][11][12][13][14][15] the study here relaxes the assumption that the external disturbances are upper bounded by precisely known positive constants. This work aims to design adaptive event-based control protocols to achieve finite-time consensus of the chain-form nonholonomic MASs subject to unknown but bounded disturbances.…”

“…To improve the convergence performance, finite-time stability theory was proposed. [10][11][12][13][14][15] The discontinuous or continuous ISMC protocols were respectively designed to reach accurate finite-time consensus for second-order MASs in the presence of disturbances. 11 For underactuated aerial manipulators with unknown disturbances, 13 the finite-time geometric control laws were designed.…”

Almost output consensus of nonlinear multiagent systems in the presence of external disturbances

“…In the development of consensus protocols of multiagent systems, different practical issues have been considered, and one of them is the robustness of consensus protocols to external disturbances. For example, in References 20,21, the dynamics of each agent is subject to a matched disturbance, that is, the disturbance appears in the same channel as the control input, and consensus protocols based on integral sliding mode control are proposed. In References 22,23, the dynamics of each agent is subject to mismatched disturbances, that is, the disturbances may enter the system through channels different from the control input.…”