Open AccessSemi‐global consensus with position limited and rate disturbances via low gain feedback and integral sliding mode control
Author(s) -
Yang Yucheng,
Zhou Hongtao,
Su Housheng,
Zeng Wei
Publication year - 2017
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2016.0754
Subject(s) - integral sliding mode , control theory (sociology) , position (finance) , feedback control , sliding mode control , mode (computer interface) , control (management) , computer science , control engineering , engineering , physics , economics , artificial intelligence , nonlinear system , finance , quantum mechanics , operating system
In this study, the authors investigate the semi‐global leader‐following consensus problem of multi‐agent systems in the presence of both position saturation and bounded rate disturbances. Each follower agent is described by a general linear dynamic with actuator position saturation and rate disturbances. Based on low‐gain feedback design technique and integral sliding mode, discontinuous and continuous control protocols are developed. It is established that semi‐global leader‐following consensus can be achieved under the assumptions that the system is asymptotically null controllable with bounded controls and the leader agent has a directed path to every follower agent. Simulations are presented to illustrate the results.