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

• Published in: IET control theory & applications Vol. 14; no. 2; pp. 291 - 303
• Main Authors: Wang, Xiangyu, Wang, Guodong, Li, Shihua, Lu, Kunfeng
• Format: Journal Article
• Language: English
• Published: The Institution of Engineering and Technology 29.01.2020
• Subjects: 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
• DOI: 10.1049/iet-cta.2019.0644

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.