Multi-surface sliding control for fast finite-time leader-follower consensus with high order SISO uncertain nonlinear agents

Abstract

SUMMARYIn this paper, multi surface sliding cooperative control scheme is presented and new multiple sliding surfaces are proposed. It is proven that, for the setup that each agent is described by a chain of integrators, where the last integrator is perturbed by a bounded disturbance, leader–follower consensus can be achieved on these sliding surfaces if the communication graph has a directed spanning tree. Also, sliding variables can be driven to the sliding surfaces in fast finite time by the nonsmooth control law. The fast finite‐time Lyapunov stability theorem, the terminal sliding control technique, and the adding a power integrator design approach are used in our proposed control. Simulation results demonstrate the effectiveness of the proposed scheme. Copyright © 2013 John Wiley & Sons, Ltd.

Fixed-Time Consensus Tracking for Multiagent Systems With High-Order Integrator Dynamics

“…, x0,n] T ∈ R n is the state vector and u0 ∈ R is the control input of the leader. The dynamics of the ith follower agent are described by [25] xi,…”

“…In the very recent work [23], the authors improves the results in [22] and gives an estimate for the bound of the settling time, which is independent of initial conditions. Although several results on finite-time consensus for high-order systems, e.g., [24] and [25], have been reported, few results are reported on the fixed-time coordination control for high-order multiagent systems. Even the results in [16], [25], [22], [26] require each follower to obtain the inputs of its neighbors simultaneous, which causes a communication loop problem.…”

“…Although several results on finite-time consensus for high-order systems, e.g., [24] and [25], have been reported, few results are reported on the fixed-time coordination control for high-order multiagent systems. Even the results in [16], [25], [22], [26] require each follower to obtain the inputs of its neighbors simultaneous, which causes a communication loop problem. It is nontrivial to extend the existing results for the first-or second-order case to higher-order one in a straightforward way.…”

Robust finite-time containment control of general linear multi-agent systems under directed communication graphs

“…Compared with existing results on finite-time leader-following control of multiagent systems which focused on simple integrator systems or high-order integrator systems [32,33], the control strategy proposed in Corollary 1 applies to general linear multi-agent systems under directed communication graphs. Furthermore, only relative information is needed in the controller design which avoids the need of control inputs exchange among neighboring agents as in [33].…”

Distributed Finite-Time Containment Control for Double-Integrator Multiagent Systems

“…In this case, the control objective is to drive the states of the followers to track the state of the single leader. Control algorithms for this problem have been reported in [13], [14], [18]- [26].…”