Consensus for multi-agent systems with sliding-mode observer
JIN Zhi-qun
NIU Yu-gang
ZOU Yuan-yuan
Abstract：In this paper,a finite time consensus algorithm is proposed for multi-agent systems where the velocity of each agent is unmeasurable.Before achieving the consensus of multi-agent systems,problems raised by the unmeasurable velocities should be solved firstly.In this paper,we adopt a kind of sliding mode observer which can estimate the velocity of each agent online in finite time.The estimated velocities are then utilized as information of control law designing.Sliding mode control is one of the most widely-used classical nonlinear control algorithm which has good robustness to system uncertainties and external disturbances.Here a kind of nonsingular terminal sliding mode control law based on position and estimated velocity information of the neighbors is applied to realize the consensus of the systems,which can not only overcome the absence of velocity information,but also achieve the consensus of the multi-agent system in finite time.Finally,the effectiveness of the proposed algorithm is verified by a numerical simulation.
Keywords：multi-agent systemsconsensussliding-mode observerterminal sliding-mode control
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 251-259 )