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Sliding-mode consensus algorithms for disturbed second-order multi-agent systems
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DOI：10.1016/j.jfranklin.2018.07.027.png)
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In this paper, both leaderless and leader-follower consensus problems for a class of disturbed second-order multi-agent systems are studied. Based on integral sliding-mode control, sliding-mode consensus protocols are proposed for leaderless and leader-follower multi-agent systems with disturbances, respectively. Firstly, for leaderless second-order multi-agent systems, a sliding-mode consensus protocol is proposed to make the agents achieve asymptotic consensus. Secondly, for leader-follower second-order multi-agent systems, a finite-time sliding-mode consensus protocol is designed to make the agents achieve consensus in finite time. Both kinds of consensus protocols inherit the anti-disturbance performance and robustness of sliding-mode control and require less communication information. Finally, two numerical simulations are given for leaderless and leader-follower second-order multi-agent systems to validate the efficiency of the proposed consensus protocols. (C) 2018 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
Keyword:
FINITE-TIME CONSENSUS
DOUBLE-INTEGRATOR DYNAMICS
NONLINEAR-SYSTEMS
MISMATCHED DISTURBANCES
CONTAINMENT CONTROL
TRACKING CONTROL
LEADER
AGENTS
NETWORKS
STABILIZATION
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3.7
论文数:
6.4K
被引数:
1.5W
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