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Multi‐surface sliding control for fast finite‐time leader–follower consensus with high order SISO uncertain nonlinear agents
Author(s) -
Khoo Suiyang,
Xie Lihua,
Zhao Shengkui,
Man Zhihong
Publication year - 2013
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.2997
Subject(s) - control theory (sociology) , integrator , nonlinear system , bounded function , sliding mode control , consensus , computer science , mathematics , control (management) , multi agent system , bandwidth (computing) , physics , quantum mechanics , artificial intelligence , computer network , mathematical analysis
SUMMARY In this paper, multi surface sliding cooperative control scheme is presented and new multiple sliding surfaces are proposed. It is proven that, for the setup that each agent is described by a chain of integrators, where the last integrator is perturbed by a bounded disturbance, leader–follower consensus can be achieved on these sliding surfaces if the communication graph has a directed spanning tree. Also, sliding variables can be driven to the sliding surfaces in fast finite time by the nonsmooth control law. The fast finite‐time Lyapunov stability theorem, the terminal sliding control technique, and the adding a power integrator design approach are used in our proposed control. Simulation results demonstrate the effectiveness of the proposed scheme. Copyright © 2013 John Wiley & Sons, Ltd.