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Sliding Mode Formation Control of Nonlinear Multi-agent Systems with Local Lipschitz Continuous Dynamics

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Abstract

In this paper, the multi-agent formation problem of networked nonlinear multi-agent systems with local Lipschitz continuous dynamics under directed interaction topology, is investigated. Based on the nonlinear dynamics satisfying locally Lipschitz continuous conditions, three kinds of sliding mode controllers are proposed to solve the problem of multi-agent formation control. Using integral sliding mode controller in first-order system, formation shape is achieved within finite time. For second-order system, on the one hand, non-singular terminal sliding mode function is adopted to accomplish the system asymptotic convergence. Furthermore, super-twisting algorithm is proposed to make multi-agent achieve the desired formation within finite time. Lyapunov functions are applied in the whole paper to ensure the system stability. Numerical simulation examples are provided to demonstrate the effectiveness of the proposed sliding mode control methods.

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Authors and Affiliations

  1. School of Electrical Engineering, Yanshan University, Qinhuangdao, 066004, China

    Jinran Wang, Xiaoyuan Luo, Xiaolei Li & Minggao Zhu

  2. Branch of Light Industry, Beijing Industry and Trade Technicians College, Beijing, 100079, China

    Jinran Wang

  3. Institute of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Xinping Guan

Authors
  1. Jinran Wang
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  2. Xiaoyuan Luo
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  3. Xiaolei Li
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  4. Minggao Zhu
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  5. Xinping Guan
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Corresponding author

Correspondence to Xiaoyuan Luo.

Additional information

This work is supported in part by the National Natural Science Foundation of China under Grant Nos. 61375105 and 61403334, Chinese Postdoctoral Science Fundation under Grant No. 2015M581318.

This paper was recommended for publication by Editor LIU Guoping.

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Wang, J., Luo, X., Li, X. et al. Sliding Mode Formation Control of Nonlinear Multi-agent Systems with Local Lipschitz Continuous Dynamics. J Syst Sci Complex 32, 759–777 (2019). https://doi.org/10.1007/s11424-018-7299-1

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  • DOI: https://doi.org/10.1007/s11424-018-7299-1

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