Tracking consensus for nonlinear heterogeneous multi-agent systems subject to unknown disturbances via sliding mode control

Abstract

We investigate the tracking control for a class of nonlinear heterogeneous leader-follower multi-agent systems (MAS) with unknown external disturbances. Firstly, the neighbor-based distributed finite-time observers are proposed for the followers to estimate the position and velocity of the leader. Then, two novel distributed adaptive control laws are designed by means of linear sliding mode (LSM) as well as nonsingular terminal sliding mode (NTSM), respectively. One can prove that the tracking consensus can be achieved asymptotically under LSM and the tracking error can converge to a quite small neighborhood of the origin in finite time by NTSM in spite of uncertainties and disturbances. Finally, a simulation example is given to verify the effectiveness of the obtained theoretical results.

Almost sure stability of second‐order nonlinear stochastic system with Lévy noise via sliding mode control

“…Remark Compared with the controller u ( x , t )=− x 2 − κ 1 sgn( s ) in the determining system, the designed sliding mode controller for stochastic system not only needs to eliminate the effect of disturbance, but it also needs to combat for the interference comes from stochastic noise.…”

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

“…where x^i and v^i are the estimated position and velocity of the ith follower to the leader, respectively. With some mild modification, Theorem 4.1 of [18] is changed as Proposition 1 [35]: Consider the leader-follower MASs (1) and (2). Assume the adjacency graph Ḡ is connected and Assumptions 2 holds.…”

“…Therefore, the proposed control algorithms are insensitive and robust to the uncertainties and unknown external disturbances. In our previous work [35], we investigated the tracking consensus for MASs subject to uncertainties and external disturbances based on linear sliding mode and non‐singular terminal sliding mode, respectively. However, the assumption on the unknown non‐linear functions is restrictive and not very practical.…”

“…However, the assumption on the unknown non‐linear functions is restrictive and not very practical. Different from [35], in this paper, we focus on the time‐invariant and time‐varying formation problem of MASs, in which the assumption on the unknown non‐linearities in [35] is relaxed and instead the novel approximation ability of neural network is adopted. This technique is more efficient and practical.…”

Investigation of MAS structure and intelligent+ information processing mechanism of hypersonic target detection and recognition system

“…The cooperation among agents is mainly in the form of dynamic driving cooperation based on various characteristics changing in hypersonic target flight. Therefore, first of all, each sensor member shall implement the plan according to their own capabilities and the task distribution, cooperate with other sensor members as required, and solve the existing conflicts through negotiation after the formation the initial operational plan [13,14]. The decision-making body is responsible for centralized planning of the inconsistencies among sensors [15].…”