Sliding-mode observers based distributed consensus control for nonlinear multi-agent systems with disturbances
Yulian Jiang, Yuhang Zhang, Hongquan Wang, Keping Liu
Abstract
Abstract The distributed consensus control problem for nonlinear multi-agent systems (MASs) with external disturbances under switching directed topologies is investigated. Distributed sliding-mode observers are designed considering both nonlinear dynamics and disturbances in MASs. Utilizing estimated states information via sliding-mode observers, a control protocol is constructed and analyzed to ensure the MASs reach consensus, and additionally guarantee the desired disturbance rejection criterion. Furthermore, the simulation experiment is carried out by taking multiple simple-pendulum network systems. By comparing this work with the related existing results, our designed observers are superior in estimating states information simultaneously considering both nonlinear dynamics and external disturbances, and the experiment result analysis shows validity of distributed consensus algorithm based on sliding-mode observers for MASs.