DocumentCode :
234174
Title :
Leader-follower consensus of multi-agent system with external disturbance based on integral sliding mode control
Author :
Xiaojun Long ; Shuanghe Yu ; Yilin Wang ; Lina Jin
Author_Institution :
Sch. of Inf. Sci. & Technol., Dalian Maritime Univ., Dalian, China
fYear :
2014
fDate :
28-30 July 2014
Firstpage :
1740
Lastpage :
1745
Abstract :
In this paper, we investigate the consensus problem for the leader-follower multi-agent systems with second-order dynamics subject to external disturbances. Based on integral sliding mode (ISM) control technique, we design a new sliding mode surface to achieve consensus of multi-agent system subjected to external disturbance. With the help of control protocol, system trajectory may reach the sliding mode surface in finite time. Under the case of one leader, the states of followers may track that of the leader to achieve consensus. Moreover, the states of system asymptotically converge to convex hull spanned by that of multiple leaders. Finally, we give simulation results to verify effectiveness of our theory.
Keywords :
control system synthesis; convergence; multi-agent systems; set theory; variable structure systems; ISM control technique; asymptotic convergence; consensus problem; control protocol; convex hull; finite time; integral sliding mode control design; leader-follower multiagent system; second-order dynamics; system trajectory; Control systems; Lead; Multi-agent systems; Network topology; Protocols; Topology; Vectors; ISM; consensus tracking; containment control; multi-agent system;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
Type :
conf
DOI :
10.1109/ChiCC.2014.6896891
Filename :
6896891
Link To Document :
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