scholarly journals Robust Consensus Problem of Heterogeneous Uncertain Second-Order Multi-Agent Systems Based on Sliding Mode Control

2021 ◽  
Vol 2 ◽  
Author(s):  
Ni ZHAO ◽  
Jian-dong ZHU
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Second Order ◽  
Uncertain Parameters ◽  
Consensus Problem ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Mode Control ◽  
Multi Agent ◽  
Robust Consensus

This paper investigates the robust consensus problem for heterogeneous second-order multi-agent systems with uncertain parameters. Based on the sliding mode control method, novel robust consensus protocols are designed for the linear multi-agent systems with uncertain parameters and a class of uncertain nonlinear multi-agent systems. Finally, numerical simulations are given to verify the effectiveness of the proposed protocols.

scholarly journals Consensus Sliding-Mode Fault-Tolerant Control for Second-Order Multi-Agent Systems

2021 ◽  
Vol 25 (6) ◽  
pp. 974-981
Author(s):  
Xukai Hu ◽  
Pu Yang ◽  
Ben Ma ◽  
Zhiqing Zhang ◽  
Zixin Wang ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Second Order ◽  
Lyapunov Theory ◽  
Actuator Faults ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Mode Control ◽  
Multi Agent

This study investigates the consensus problem of second-order nonlinear multi-agent systems (MASs) with actuator faults via a sliding mode control approach. The consensus error dynamic is given based on the relative states of the neighbors. Then, a sliding mode surface based on consensus errors is proposed, and the asymptotic stability of the sliding mode is proved using the Lyapunov theory. Furthermore, a sliding-mode fault-tolerant consensus protocol is proposed to compensate for actuator faults. According to the sliding mode control theory, the proposed sliding-mode fault-tolerant controller ensures that the consensus of the MASs can be reached in a finite time. Finally, a simulation example of a second-order multi-robot system is presented to demonstrate the effectiveness of the proposed controller.

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