Sliding-mode consensus algorithms for disturbed second-order multi-agent systems |
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| Authors: | Guodong Wang Xiangyu Wang Shihua Li |
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| Institution: | 1. School of Automation, Southeast University, Nanjing 210096, China;2. Key Laboratory of Industrial Internet of Things & Networked Control, Ministry of Education, Chongqing 400065, China;3. Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing 210096, China |
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| Abstract: | 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. |
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| Keywords: | Corresponding author at: School of Automation Southeast University Nanjing 210096 China |
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