Homogeneous finite-time consensus control for higher-order multi-agent systems by full order sliding mode

• Main Authors: Mondal, Sanjoy, Ghommam, Jawhar, Saad, Maarouf
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2018
• Subjects: DRNTU::Engineering::Electrical and electronic engineering; Finite Time Control; Full Order Sliding Mode
• Online Access: https://hdl.handle.net/10356/88123; http://hdl.handle.net/10220/45654
• Institution: Nanyang Technological University

This paper investigates the distributed finite-time consensus tracking problem for higher-order nonlinear multi-agent systems (MASs). The distributed finite-time consensus protocol is based on full order sliding surface and super twisting algorithm. The nominal consensus control for the MASs is designed based on the geometric homogeneous finite time control technique. The chattering is avoided by designing a full order sliding surface. The switching control is constructed by integrating super twisting algorithm, hence a chattering alleviation protocol is obtained to maintain a smooth control input. The finite time convergence analysis for the leader follower network is presented by using strict Lyapunov function. Finally, the numerical simulations validate the proposed homogeneous full-order sliding mode control for higher-order MASs.