Adaptive backstepping sliding mode control for leader-follower multi-agent systems

Facing the critical challenge in coordination control and uncertainty encountered in leader-follower multi-agent systems, this study proposes a new adaptive backstepping sliding mode control approach in light of integration of the advantages of backstepping and sliding mode control principles. A systematic controller design procedure is proposed with step-by-step implement details. Correspondingly, the stability analysis is presented to lay a foundation for analytical understanding in generic theoretical aspects and safe operation in real systems. Two simulated examples are selected to bench test the effectiveness and efficiency of the proposed approach.