Distributed Active Anti-Disturbance Consensus for Leader-Follower Higher-Order Multi-Agent Systems With Mismatched Disturbances

This technical note studies the finite-time consensus problem of leader-follower higher-order multi-agent systems with mismatched disturbances. To solve such a problem, by combining the non-singular terminal sliding-mode control (NTSMC) and disturbance observer based control (DOBC) methods together,...

Full description

Saved in:
Bibliographic Details
Published inIEEE transactions on automatic control Vol. 62; no. 11; pp. 5795 - 5801
Main Authors Wang, Xiangyu, Li, Shihua, Yu, Xinghuo, Yang, Jun
Format Journal Article
LanguageEnglish
Published IEEE 01.11.2017
Subjects
Adaptive control
Consensus
distributed active anti-disturbance cooperative control
disturbance observer based control
higher-order multi-agent systems
Laplace equations
Manipulators
mismatched disturbances
Multi-agent systems
non-singular terminal sliding mode
Observers
Protocols
Robustness
Online AccessGet full text

Cover

More Information
Summary:This technical note studies the finite-time consensus problem of leader-follower higher-order multi-agent systems with mismatched disturbances. To solve such a problem, by combining the non-singular terminal sliding-mode control (NTSMC) and disturbance observer based control (DOBC) methods together, a distributed active anti-disturbance cooperative control scheme is proposed. Firstly, to estimate the matched/mismatched disturbances of each follower, a finite-time disturbance observer is constructed. Secondly, by distributedly employing the mismatched disturbances estimates, integral-type non-singular terminal sliding-mode surfaces are designed for followers. Thirdly, distributed protocols are proposed based on the surfaces. In the presence of mismatched disturbances, these protocols achieve finite-time output consensus for the agents. Simulations validate the correctness and effectiveness of the proposed control scheme.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2016.2638966