Heterogeneous Consensus of Higher Order Multi-Agent Systems with Mismatched Uncertainties Using Sliding Mode Control
نویسندگان
چکیده
A robust consensus controller is proposed for heterogeneous higher order nonlinear multi-agent systems (MAS), when the agent dynamics are involved with mismatched uncertainties. A distributed consensus protocol based on a time varying nonhomogeneous finite time disturbance observer (FTDO) and sliding mode control is designed to realize the network consensus of higher order MAS. The time varying FTDO overcomes the problem of peaking value near the initial time caused by the constant gain one and is designed to estimate the uncertainties and to mitigate the effect of mismatched uncertainties during the sliding mode. To eliminate the chattering phenomenon and ensure finite time convergence to the sliding surface, the control law is designed by using the super twisting algorithm. Finally numerical simulations are given to illustrate the validity of the proposed method. Copyright c © 0000 John Wiley & Sons, Ltd.
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