Finite Time Consensus for Higher Order Multi Agent Systems with Mismatched Uncertainties

2020 ◽  
pp. 209-227
Author(s):  
Sanjoy Mondal ◽  
Jawhar Ghommam ◽  
Maarouf Saad
Keyword(s):  
Finite Time ◽  
Higher Order ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Mismatched Uncertainties ◽  
Multi Agent

Higher order finite-time consensus protocol for heterogeneous multi-agent systems

2014 ◽  
Vol 88 (2) ◽  
pp. 285-294 ◽  
Author(s):  
Yingjiang Zhou ◽  
Xinghuo Yu ◽  
Changyin Sun ◽  
Wenwu Yu
Keyword(s):  
Finite Time ◽  
Higher Order ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Agent Systems ◽  
Multi Agent

Disturbance observer-based sliding mode control for multi-agent systems with mismatched uncertainties

2018 ◽  
Vol 38 (5) ◽  
pp. 606-614 ◽  
Author(s):  
Qing Wang ◽  
Changyin Sun ◽  
Xiaofeng Chai ◽  
Yao Yu
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Multi Agent Systems ◽  
Content Type ◽  
Agent Systems ◽  
Mode Control ◽  
Mismatched Uncertainties ◽  
Multi Agent

PurposeThis paper aims to develop sliding mode control (SMC) methods for second-order multi-agent systems (MAS) in the presence of mismatched uncertainties.Design/methodology/approachBased on the disturbance observer (DOB), discontinuous and continuous sliding mode protocols are designed to achieve finite-time consensus in spite of the disturbances.FindingsCompared with integral SMC, numerical simulation results show that the proposed control methods exhibit better performance with respect to reduction of chattering.Originality/valueThe main contributions are the following: MAS described with mismatched uncertainties are considered; both discontinuous and continuous sliding mode controllers are considered; with the proposed sliding mode controller, the desired sliding surface can be reached in finite time and the DOB is introduced in the controller to alleviate the chattering phenomenon.

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