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Homogeneous Finite-Time Consensus Control for Higher-order Multi-Agent Systems by full order sliding mode

Journal of Systems Science & Complexity 2018年第5期31卷 1186-1205页

作者： MONDAL Sanjoy GHOMMAM Jawhar SAAD Maarouf School of Electrical and Electronic Engineering Nanyang Technological University Department of Electrical Engineering Ecole de technologie superieure

This paper investigates the distributed finite-time consensus tracking problem for higher- order nonlinear multi-agent systems （MASs）. The distributed finite-time consensus protocol is based on full order sliding surface and super twisting algorithm. The nominal consensus control for the MASs is designed based on the geometric homogeneous finite time control technique. The chattering is avoided by designing a full order sliding surface. The switching control is constructed by integrating super twisting algorithm, hence a chattering alleviation protocol is obtained to maintain a smooth control input. The finite time convergence analysis for the leader follower network is presented by using strict Lyapunov function. Finally, the numerical simulations validate the proposed homogeneous full-order sliding mode control for higher-order MASs.

关键词： Finite time control full order sliding mode multi agent systems.

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An Adaptive full order sliding mode Controller for Mismatched Uncertain Systems

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International Journal of Automation and computing 2017年第2期14卷 191-201页

作者： Sanjoy Mondal Jawhar Ghommam Maarouf Saad Department of Electrical Engineering Ecole de technologie superieure Montreal Canada-H3C1K3 Canada

In this paper, an adaptive full order sliding mode （FOSM） controller is proposed for strict feedback nonlinear systems with mismatched uncertainties. The design objective of the controller is to track a specified trajectory in presence of significant mismatched uncertainties. In the first step the dynamic model for the first state is considered by the desired tracking signal. After the first step the desired dynamic model for each state is defined by the previous one. An adaptive tuning law is developed for the FOSM controller to deal with the bounded system uncertainty. The major advantages offered by this adaptive FOSM controller are that advanced knowledge about the upper bound of the system uncertainties is not a necessary requirement and the proposed method is an effective solution for the chattering elimination from the control signal. The controller is designed considering the full-order sliding surface. System robustness and the stability of the controller are proved by using the Lyapunov technique. A systematic adaptive step by step design method using the full order sliding surface for mismatched nonlinear systems is presented, Simulation results validate the effectiveness of the proposed control law.

关键词： full order sliding mode adaptive sliding mode finite time convergence reference tracking mismatched uncertainty.

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