Sliding mode leader-following consensus controllers for second-order non-linear multi-agent systems

Chang-E Ren; C.L. Philip Chen

Sliding mode leader-following consensus controllers for second-order non-linear multi-agent systems

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Author(s): Chang-E Ren ¹ and C.L. Philip Chen ¹
- Affiliations: 1: Department of Computer and Information Science, Faculty of Science and Technology, University of Macau, Av. Padre Tomás Pereira, Taipa, Macau, People's Republic of China
Source: Volume 9, Issue 10, 25 June 2015, p. 1544 – 1552
DOI: 10.1049/iet-cta.2014.0523 , Print ISSN 1751-8644, Online ISSN 1751-8652

Received 07/05/2014, Accepted 17/12/2014, Revised 04/11/2014, Published 29/04/2015

This study discusses the asymptotic consensus problem and finite-time leader-following consensus problem of second-order non-linear multi-agent systems (MASs) with directed communication topology. On the basis of the sliding mode control theory, a new distributed asymptotic consensus controller is proposed to ensure that the consensus of MAS can be reached as time goes to infinity. Another finite-time consensus control algorithm is also proposed based on terminal sliding mode control. The finite-time consensus controller can force the states of MAS to achieve the designed terminal sliding mode surface in finite time and maintain on it. The authors also can prove the consensus of MAS can be obtained in finite time on the terminal sliding mode surface if the directed topology has a directed spanning tree. Simulations are given to illustrate the effectiveness of the proposed approaches.

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Sliding mode leader-following consensus controllers for second-order non-linear multi-agent systems

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