Model-free adaptive integral sliding mode consensus for disturbed nonlinear multi-agent systems
Babak Esmaeili, Mahdi Baradarannia, Mina Salim, Milad Hasanzadeh · International Journal of Systems Science · 2026
In this paper, the problem of leader-following consensus for heterogeneous multi-agent systems with unknown agents' dynamics is addressed in the presence of output disturbances. Accordingly, a data-driven model-free adaptive second-order integral terminal sliding mode consensus protocol is proposed for multi-agent systems under both directed fixed and switching interaction topologies. Based on the concept of pseudo-partial-derivatives and compact-format dynamically linearisation strategy, the unknown non-linear dynamics of the agents are reformulated as dynamically linearised data driven models. Then, a data-driven integral terminal sliding surface is designed to attain finite-time and precise tracking. By employing a second-order sliding manifold, the proposed consensus protocol is established. Finally, the closed-loop stability and the finite-time convergence are investigated by meticulous mathematical analysis. The examples certifies the competency of the proposed methodologies.