Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(6): 1819-1826

https://doi.org/10.1007/s12555-023-0486-4

© The International Journal of Control, Automation, and Systems

Finite-time Consensus of Heterogeneous Multi-agent Systems by Integral Sliding Mode Control

Yuwan Ma, Xisheng Zhan*, Qingsheng Yang, and Huaicheng Yan

Hubei Normal University

Abstract

This paper proposes the finite-time consensus problem for heterogeneous multi-agent systems (HMASs) with second-order linear and nonlinear agents, where the communication between agents is described by directed graphs. Firstly, the integral sliding mode control (ISMC) protocol is designed, and then it is used for finite-time consensus tracking of HMASs. In the next place, by applying graph theory, Lyapunov techniques, and other mathematical methods, it is shown that each agent in heterogeneous system can achieve consensus in finite-time if certain conditions are fulfilled, most notably by using Lyapunov stability theory to obtain sufficient conditions for finite-time consensus. Eventually, simulations are utilized to demonstrate the validity of the presented theoretical results.

Keywords Directed networks, finite-time consensus, heterogeneous multi-agent systems (HMASs), sliding mode control (SMC).

Article

Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(6): 1819-1826

Published online June 1, 2024 https://doi.org/10.1007/s12555-023-0486-4

Copyright © The International Journal of Control, Automation, and Systems.

Finite-time Consensus of Heterogeneous Multi-agent Systems by Integral Sliding Mode Control

Yuwan Ma, Xisheng Zhan*, Qingsheng Yang, and Huaicheng Yan

Hubei Normal University

Abstract

This paper proposes the finite-time consensus problem for heterogeneous multi-agent systems (HMASs) with second-order linear and nonlinear agents, where the communication between agents is described by directed graphs. Firstly, the integral sliding mode control (ISMC) protocol is designed, and then it is used for finite-time consensus tracking of HMASs. In the next place, by applying graph theory, Lyapunov techniques, and other mathematical methods, it is shown that each agent in heterogeneous system can achieve consensus in finite-time if certain conditions are fulfilled, most notably by using Lyapunov stability theory to obtain sufficient conditions for finite-time consensus. Eventually, simulations are utilized to demonstrate the validity of the presented theoretical results.

Keywords: Directed networks, finite-time consensus, heterogeneous multi-agent systems (HMASs), sliding mode control (SMC).

IJCAS
July 2024

Vol. 22, No. 7, pp. 2055~2340

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