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Finite Time Consensus for Higher Order Multi Agent Systems with Mismatched Uncertainties

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New Trends in Robot Control

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 270))

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Abstract

This chapter presents a finite time distributed consensus problem in the context of higher order multi-agent systems (MAS), when the agent dynamics are potentially affected by mismatched uncertainties. With the development of integral sliding mode (ISM), using finite time disturbance observer(FTDO), allows to neglect the effect of mismatched uncertainties during the sliding mode. Based on homogeneous continuous finite time protocol, the nominal consensus control is designed to track the desired target trajectories. The finite time convergence is presented using strict Lyapunov function for the higher order MAS. Simulation results validates the effectiveness of the proposed controller.

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Author information

Authors and Affiliations

  1. School of EEE, Nanyang Technologcal, Jurong West, Singapore

    Sanjoy Mondal

  2. Department of Electrical and Computer Engineering, Sultan Qaboos University Muscat, Al Khoudh, Oman

    Jawhar Ghommam

  3. Department of Electrical Engineering, Ecole de technologie superieure, Montreal, Canada

    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. Department of Electrical and Computer Engineering, Sultan Qaboos University, Al Khoudh, Oman

    Jawhar Ghommam

  2. National School of Engineers of Sfax, University of Sfax, Sfax, Tunisia

    Nabil Derbel

  3. Department of Engineering Design and Mathematics, University of the West of England, Bristol, UK

    Quanmin Zhu

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Mondal, S., Ghommam, J., Saad, M. (2020). Finite Time Consensus for Higher Order Multi Agent Systems with Mismatched Uncertainties. In: Ghommam, J., Derbel, N., Zhu, Q. (eds) New Trends in Robot Control. Studies in Systems, Decision and Control, vol 270. Springer, Singapore. https://doi.org/10.1007/978-981-15-1819-5_11

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