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Robustification of Cooperative Consensus Algorithms in Perturbed Multi-agents Systems

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Advances in Variable Structure Systems and Sliding Mode Control—Theory and Applications

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 115))

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Abstract

In this chapter we show how the Integral Sliding-Mode Control design paradigm can be usefully applied in the framework of Multi-Agent Systems to allow the agents dynamics to be affected by unknown disturbances. Existing consensus-based algorithms for the distributed estimation of pre-specified quantities such as, e.g., the average or the median value of the agents initial conditions fail to converge when disturbances affect the agents dynamics. In the present chapter, is discussed how to redesign the original “non-robust” algorithms from an integral sliding mode perspective, such that restoration on the ideal unperturbed scenario (e.g., convergence to the average or median value) is guaranteed in spite of the unknown perturbations. The theoretical results are fully derived within a Lyapunov analysis approach. Finally, to corroborate the developed approaches, simulative results are also presented and discussed.

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Acknowledgements

This work was supported by the Region Sardinia (L.R.7/2007) under Grant agreement CRP-7733 [“Sviluppo, progettazione e realizzazione prototipale di sistemi di gestione e controllo ottimali per una Micro Smart Grid”].

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Authors and Affiliations

  1. Department of Electrical and Electronic Engineering, University of Cagliari, Piazza D’Armi, Cagliari, Italy

    Alessandro Pilloni, Alessandro Pisano & Elio Usai

Authors
  1. Alessandro Pilloni
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  2. Alessandro Pisano
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  3. Elio Usai
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Corresponding author

Correspondence to Alessandro Pilloni .

Editor information

Editors and Affiliations

  1. School of Automation, Southeast University, Nanjing, China

    Shihua Li

  2. Research & Innovation Portfolio, RMIT University, Melbourne, Victoria, Australia

    Xinghuo Yu

  3. Division of Electrical Engineering, National Autonomous University of Mexico, Mexico City, Distrito Federal, Mexico

    Leonid Fridman

  4. Faculty of Science, Engineering and Technology, Swinburne University of Technology, Melbourne, Victoria, Australia

    Zhihong Man

  5. School of Automation, Southeast University, Nanjing, China

    Xiangyu Wang

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Pilloni, A., Pisano, A., Usai, E. (2018). Robustification of Cooperative Consensus Algorithms in Perturbed Multi-agents Systems. In: Li, S., Yu, X., Fridman, L., Man, Z., Wang, X. (eds) Advances in Variable Structure Systems and Sliding Mode Control—Theory and Applications. Studies in Systems, Decision and Control, vol 115. Springer, Cham. https://doi.org/10.1007/978-3-319-62896-7_10

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  • DOI: https://doi.org/10.1007/978-3-319-62896-7_10

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-62895-0

  • Online ISBN: 978-3-319-62896-7

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