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An Adaptive Finite-Time Consensus Control for Higher-Order Nonlinear Multi-agent Systems

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Book cover Applications of Sliding Mode Control

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 79))

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Abstract

This chapter presents a finite-time consensus problem of higher-order nonlinear multi-agent systems (MAS) in the presence of bounded disturbances. The nominal control is designed by homogeneous finite-time technique to track the desired target trajectories. The chattering is mitigated by designing an integral sliding surface using adaptive super twisting algorithm (STA). The design parameters of super twisting controller are estimated adaptively without knowing the bounds a priori. The finite time convergence of the consensus protocol for the higher-order MAS is presented using Lyapunov analysis. Simulation results shows the effectiveness of the proposed homogeneous adaptive sliding mode control for the MAS.

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Author information

Authors and Affiliations

  1. School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, 639798, Singapore

    Sanjoy Mondal

  2. Department of Electrical Engineering, Ecole de Technologie Superieure, Montreal, QC, Canada

    Jawhar Ghommam & Maarouf Saad

Authors
  1. Sanjoy Mondal
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  2. Jawhar Ghommam
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  3. Maarouf Saad
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Corresponding author

Correspondence to Sanjoy Mondal .

Editor information

Editors and Affiliations

  1. University of Sfax, Sfax, Tunisia

    Nabil Derbel

  2. University of Tunis Carthage, Urbain Nord, Tunisia

    Jawhar Ghommam

  3. University of the West of England, Bristol, United Kingdom

    Quanmin Zhu

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© 2017 Springer Science+Business Media Singapore

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Mondal, S., Ghommam, J., Saad, M. (2017). An Adaptive Finite-Time Consensus Control for Higher-Order Nonlinear Multi-agent Systems. In: Derbel, N., Ghommam, J., Zhu, Q. (eds) Applications of Sliding Mode Control. Studies in Systems, Decision and Control, vol 79. Springer, Singapore. https://doi.org/10.1007/978-981-10-2374-3_11

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  • DOI: https://doi.org/10.1007/978-981-10-2374-3_11

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2373-6

  • Online ISBN: 978-981-10-2374-3

  • eBook Packages: EngineeringEngineering (R0)

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