Distributed adaptive sliding mode control for nonlinear heterogeneous multi-agent systems with unknown disturbances
Xiang Zhang, Wang Jinhuan, Jie Wang, Yang Dedong · 2017
In this paper, the consensus for a class of nonlinear heterogeneous multi-agent systems (MAS) subject to unknown external disturbances is investigated. Firstly, the neighbor-based distributed finite-time observers are proposed for the followers to estimate the position and velocity of the leader. Then, a novel distributed adaptive control laws is designed by means of linear sliding mode (LSM). One can prove that the tracking consensus can be realized asymptotically under LSM in spite of uncertainties and disturbances. Finally, a numerical example demonstrates the performance and feasibility of the given protocols.