Consensus Tracking of Nonlinear Second-Order Multi-Agent Systems with External Disturbance
Danyang Geng, Qinghe Wu, Changkun Du · 2017
In this paper, we consider the leader-follower consensus problem of multi-agent systems governed by second order dynamics with nonlinear terms. Taking into account the external disturbances, a leader-follower consensus tracking algorithm for each agent with high-order sliding mode control method is proposed to make all the followers track the leader. Then we prove that each agent can follow the leader under the proposed tracking strategy by using graph theory and Lyapunov approach. Finally, a simulation is given to illustrate the effectiveness of proposed theoretical results.