This chapter presents a finite time distributed consensus problem in the context of higher order multi-agent systems (MAS), when the agent dynamics are potentially affected by mismatched uncertainties. With the development of integral sliding mode (ISM), using finite time disturbance observer(FTDO), allows to neglect the effect of mismatched uncertainties during the sliding mode. Based on homogeneous continuous finite time protocol, the nominal consensus control is designed to track the desired target trajectories. The finite time convergence is presented using strict Lyapunov function for the higher order MAS. Simulation results validates the effectiveness of the proposed controller.
Finite Time Consensus for Higher Order Multi Agent Systems with Mismatched Uncertainties
Studies in Systems, Decision and Control
12.02.2020
19 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Finite time convergence , Higher order sliding mode , Multi-agent systems , Disturbance observer Engineering , Robotics and Automation , Control and Systems Theory , Vibration, Dynamical Systems, Control , Mathematical and Computational Engineering , Complex Systems , Mathematics of Algorithmic Complexity
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