The Tracking Control Of Multi-agent Systems Based On Sliding Mode

With the rapid development of communication networks,the cooperative control problem of multi-agent systems(MASs)has received considerable attention,such as robot formation,sensor networks,satellite control system and so on.The method based on sliding mode control can suppress parameter perturbations and external disturbances,and make the system achieve the desired performance,which is extremely effective in practical applications.In this paper,we consider the multi-agent systems mainly based on sliding mode control.The main contents are as follows.Firstly,we study the tracking consensus of a class of nonlinear heterogeneous multi-agent systems subject to uncertainties and external disturbances.In our problem,the position and velocity of the leader are not known to any follower.A distributed observer is designed for each follower to estimate the state of the leader.Different from the existing results,the bounds of the external disturbances may be unknown.To deal with the problem,two novel distributed adaptive control laws are designed by means of linear sliding mode(LSM)as well as nonsingular terminal sliding mode(NTSM),respectively.One can prove that the tracking consensus can be achieved asymptotically under LSM and the tracking error can converge to a quite small neighborhood of the origin in finite time by NTSM.Then,a simulation example is given to verify the effectiveness of the obtained theoretical results.Secondly,we consider the time-invariant and time-varying formation tracking problem for the above nonlinear multi-agent systems.Due to the uncertainties of the MASs in this paper,the approximation ability of neural network is adopted.To handle the external disturbances and formation problem,the novel disturbance observer and distributed adaptive formation control algorithms based on the sliding mode are developed.One can prove that,all the followers can reach the desired time-invariant or time-varying formation tracking,and achieve the consistent velocity with the leader.A numerical example is presented to illustrate the effectiveness of the obtained theoretical results.Finally,we summarize the multi-agent systems and look forward to the future researches.