Leader-Follower Consensus of Multi-agent System with External Disturbance Based on Integral Sliding Mode Control

摘要：

　　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.

关键词： consensus tracking containment control ISM multi-agent system

作者: Xiaojun Long Shuanghe Yu Yilin Wang Lina Jin

作者单位: School of Information Science and Technology,Dalian Maritime University,Dalian 116026,P.R.China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 1740-1745

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）