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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Finite Time Consensus for Higher Order Multi Agent Systems with Mismatched Uncertainties


    Additional title:

    Studies in Systems, Decision and Control


    Contributors:


    Publication date :

    2020-02-12


    Size :

    19 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Consensus for Leader-follower Multi-agent Systems with Mismatched Disturbance and Correlated Uncertainties

    Liu, Fan / Li, Yuling / Yang, Hongyong | British Library Online Contents | 2018



    Finite‐time consensus problem for second‐order multi‐agent systems under switching topologies

    Wang, Fang / Chen, Xin / He, Yong et al. | British Library Online Contents | 2017


    Finite-time consensus for multi-agent systems via nonlinear control protocols

    Zhu, Y. K. / Guan, X. P. / Luo, X. Y. | British Library Online Contents | 2013