Combining Consensus and Tracking Errors in Sliding Mode Control of High Order Uncertain Stochastic Multi-Agent Systems
Pooya Parsa, Mohammad-R. Akbarzadeh-T · 2020
Controlling stochastic multi-agent systems (MAS) is a promising branch of systems engineering owing to its ability to solve complex practical problems by taking inspiration from the social behavior of living organisms. Consensus on more than one state is a less considered problem in the framework of leader-following control of high-order uncertain nonlinear stochastic multi-agent systems with unknown dynamics. To this end, in this paper, a sliding surface integrates a tracking error polynomial with consensus error between states of the connected agents. Accordingly, a new distributed fuzzy sliding mode controller is designed for a class of stochastic multi-agent systems with partially unknown deterministic dynamics and unknown bounded stochastic dynamics. The proposed control protocol steers agents to reach agreement on states of the leader and concurrently approximates the unknown part of their deterministic dynamics by using fuzzy systems with adaptive parameters. In the sense of Lyapunov, it is proved that consensus error and all of the closed-loop signals of each agent are semi-globally uniformly ultimately bounded (SGUUB) in mean square. Under the designed controller, nonlinear closedloop experimental dynamics behave well in both tracking and reaching state consensus.