Distributed Cooperative Tracking Control Of Networked Systems Via Robust Sliding Mode Control Strategies

This work focuses on the distributed cooperative tracking control of networked systems via two robust sliding mode control strategies i.e.,Integral Sliding Mode Control(ISMC)and Arbitrary Order Sliding Mode Control(AOSMC).These techniques will be employed to develop a consensus between a leader and the followers.The under-studying network topology is fixed and directed.The leader is driven by the continuous and bounded time-varying function.The followers are aimed to follow the leader trajectory in the presence of the matched uncertainties.This objective(i.e.,consensus establishment)is met by first defining consensus error dynamics and later the ISMC and AOSMC based control protocols will be designed.It will steer the defined error dynamics to the equilibrium(i.e.,zero)in the presence of the matched disturbances.In the ISMC technique,an integral sliding manifold is designed and based on the designed manifold,the sliding mode enforcing law is designed which establish sliding mode from the initial time instant.Consequently,the sliding mode invariance property holds from the very start with enhanced robustness.The chattering phenomenon is suppressed by the use of an integral term in the switching manifold.It provides the ease to drive the system by a continuous control law from the very start.Thus,the finite time convergence of the errors(by definition)resulted in high precision.In addition,the chattering phenomenon is suppressed by the use of a novel sliding surface.Rigorous stability analysis in both strategies is done via the Lyapunov approach.The theoretical claims are verified via the simulation results of a numerical example in which a leader and four followers based networked topology are considered.