scholarly journals Distributed robust consensus control for nonlinear leader–follower multi-agent systems based on adaptive observer-based sliding mode

2018 ◽  
Vol 25 (1) ◽  
pp. 109-121 ◽  
Author(s):  
N Rahimi ◽  
T Binazadeh
Keyword(s):  
Sliding Mode ◽  
Adaptive Observer ◽  
Multi Agent Systems ◽  
Parameter Uncertainties ◽  
Dynamical Equations ◽  
Consensus Control ◽  
Agent Systems ◽  
Sliding Mode Controllers ◽  
Multi Agent ◽  
Robust Consensus

This paper investigates an adaptive observer-based consensus control strategy for general nonlinear multi-agent systems (MASs). The distributed control of leader–follower MASs is studied in the presence of unknown parts in the dynamical equations of the followers which may be due to model simplification, parameter uncertainties and/or external disturbances. In order to decrease the conservatism of robust analysis, the upper bound of unknown terms are considered as unknown positive constants and are obtained through the adaptation laws. Additionally, it is assumed that all the agents’ states are not directly measurable and nonlinear distributed observers are designed. Furthermore, the robust consensus is achieved via distributed adaptive observer-based sliding mode controllers. In this regard, a theorem is given and it is proved that the consensus error converges to zero. Finally, computer simulations are performed and the theoretical results are verified.

Robust Consensus Output Tracking of Multi-Agent Systems With Directed Communications

2010 ◽  
Author(s):  
Z. Wang ◽  
W. Zhang ◽  
Y. Guo
Keyword(s):  
Multi Agent Systems ◽  
Consensus Control ◽  
Agent Systems ◽  
Output Tracking ◽  
Output Tracking Control ◽  
Control Scheme ◽  
Communication Topology ◽  
Multi Agent ◽  
Derivatives Of ◽  
Robust Consensus

In this paper, we study the consensus output tracking control for multi-agent systems with high-order dynamics under directed communication topology. Time-varying reference is assumed to be available to a subgroup of a team. A leader-follower scheme is applied and robust consensus control is developed so that the reference is treated as disturbances to those agents with no access to the reference. The control scheme avoids estimation of the derivatives of neighbor’s states through measurement as done in previous work and guarantees a finite L2-gain from the reference to an transformed output. Simulation results show satisfactory performances.

scholarly journals Finite Time Consensus Control for Nonlinear Heterogeneous Multi-agent Systems With Disturbances

2021 ◽  
Author(s):  
Lianghao Ji ◽  
Donglin Lv ◽  
Shasha Yang ◽  
Xing Guo ◽  
Huaqing Li
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Pinning Control ◽  
Control Methods ◽  
Multi Agent Systems ◽  
Consensus Control ◽  
Agent Systems ◽  
First Order ◽  
System A ◽  
Multi Agent

Abstract This paper discusses the finite time consensus (FTC) issue of nonlinear heterogeneous multi-agent systems (HMASs) by combining integral sliding-mode control (SMC), event-triggered control (ETC) and pinning control methods. The SMC is constructed separately for first-order and second-order agents to assure that the system is not interfered by the nonlinearities and disturbances when the state trajectory of the system moves on the sliding surface. To stimulate the FTC of system, a novel control protocols are designed and a fully distributed ETC with adjustable trigger frequency only rely on the local information is introduced. Moreover, the Zeno behavior is eliminated and the range of pinning gain of each agent under directed topology is determined. Meanwhile, we also give the conditional criteria for the system to achieve FTC. Eventually, the correctness of the obtained conclusion is illustrated by several simulation examples.

Sign in / Sign up

Export Citation Format

Share Document