Consensus of second-order nonlinear multi-agent systems via sliding mode observer and controller  

作　　者：Xiaolei Li Xiaoyuan Luo Shaobao Li Jianjin Li Xinping Guan 

机构地区：[1]School of Electrical Engineering, Yanshan University [2]Tandon School of Engineering, New York University [3]Institute of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University

出　　处：《Journal of Systems Engineering and Electronics》2017年第4期756-765,共10页系统工程与电子技术（英文版）

基　　金：supported by the National Natural Science Foundation of China(61375105;61403334)

摘　　要：This paper investigates the consensus problem of second-order nonlinear multi-agent systems (MASs) via the sliding mode control (SMC) approach. The velocity of each agent is assumed to be unmeasurable. A second-order sliding mode observer is designed to estimate the velocity. Then a distributed discontinuous control law based on first-order SMC is presented to solve the consensus problem. Moreover, to overcome the chatting problem, two controllers based on the boundary layer method and the super-twisting algorithm respectively are presented. It is shown that the MASs will achieve consensus under some given conditions. Some examples are provided to demonstrate the effectiveness of the proposed control laws.This paper investigates the consensus problem of second-order nonlinear multi-agent systems (MASs) via the sliding mode control (SMC) approach. The velocity of each agent is assumed to be unmeasurable. A second-order sliding mode observer is designed to estimate the velocity. Then a distributed discontinuous control law based on first-order SMC is presented to solve the consensus problem. Moreover, to overcome the chatting problem, two controllers based on the boundary layer method and the super-twisting algorithm respectively are presented. It is shown that the MASs will achieve consensus under some given conditions. Some examples are provided to demonstrate the effectiveness of the proposed control laws.

关 键 词：nonlinear multi-agent system sliding mode observer CONSENSUS sliding mode controller 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]