Composite sliding-mode consensus algorithms for higher-order multi-agent systems subject to disturbances

Consensus problems for both leaderless and leader-follower disturbed higher-order multi-agent systems are investigated in this study. Based on the combination of integral sliding-mode control and disturbance observer techniques, composite sliding-mode consensus protocols are proposed for leaderless...

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Veröffentlicht in:IET control theory & applications Jg. 14; H. 2; S. 291 - 303
Hauptverfasser: Wang, Xiangyu, Wang, Guodong, Li, Shihua, Lu, Kunfeng
Format: Journal Article
Sprache:Englisch
Veröffentlicht: The Institution of Engineering and Technology 29.01.2020
Schlagworte:
aircraft
altitude finite‐time consensus
asymptotic consensus
autonomous aerial vehicles
composite sliding‐mode consensus algorithms
consensus control strategy
consensus problems
control system synthesis
directed graphs
distributed control
disturbance observer techniques
disturbed multiagent systems
finite‐time composite sliding‐mode consensus protocols
higher‐order multiagent systems
integral sliding‐mode control
leader–follower case
leader–follower multihypersonic vehicle systems
multi‐agent systems
multi‐robot systems
observers
Research Article
variable structure systems
disturbance observer techniques
disturbed multiagent systems
multi-agent systems
distributed control
aircraft
consensus control strategy
multi-robot systems
control system synthesis
altitude finite-time consensus
asymptotic consensus
leader–follower case
integral sliding-mode control
leader–follower multihypersonic vehicle systems
autonomous aerial vehicles
directed graphs
composite sliding-mode consensus algorithms
higher-order multiagent systems
consensus problems
finite-time composite sliding-mode consensus protocols
variable structure systems
observers
ISSN:1751-8644, 1751-8652
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Zusammenfassung:Consensus problems for both leaderless and leader-follower disturbed higher-order multi-agent systems are investigated in this study. Based on the combination of integral sliding-mode control and disturbance observer techniques, composite sliding-mode consensus protocols are proposed for leaderless and leader-follower disturbed multi-agent systems, respectively. First, for the leaderless case, composite sliding-mode consensus protocols are designed to make the agents achieve asymptotic consensus. Second, for the leader-follower case, finite-time composite sliding-mode consensus protocols are presented to make the followers achieve consensus with the leader in finite time. Then based on the consensus algorithms proposed in this study, a consensus control strategy is given to realise the velocity and altitude finite-time consensus for a class of leader-follower multi-hypersonic vehicle systems. Finally, the numerical simulations are conducted to validate the efficiency of the proposed consensus algorithms.
ISSN:1751-8644
1751-8652
DOI:10.1049/iet-cta.2019.0644