Journal of Systems Science and Complexity

, Volume 31, Issue 5, pp 1186–1205 | Cite as

Homogeneous Finite-Time Consensus Control for Higher-Order Multi-Agent Systems by Full Order Sliding Mode

  • Sanjoy MondalEmail author
  • Jawhar Ghommam
  • Maarouf Saad


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.


Finite time control full order sliding mode multi agent systems 


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Copyright information

© Institute of Systems Science, Academy of Mathematics and Systems Science, CAS and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Sanjoy Mondal
    • 1
    • 2
    Email author
  • Jawhar Ghommam
    • 1
    • 2
  • Maarouf Saad
    • 1
    • 2
  1. 1.School of Electrical and Electronic EngineeringNanyang Technological UniversitySingaporeSingapore
  2. 2.Department of Electrical EngineeringEcole de technologie superieureMontrealCanada

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