Regular Papers
International Journal of Control, Automation and Systems 2022; 20(8): 2534-2542
Published online July 12, 2022
https://doi.org/10.1007/s12555-021-0438-9
© The International Journal of Control, Automation, and Systems
New Terminal Sliding Mode Consensus Algorithm for Disturbed Second-order Multi-agent Systems
A finite-time adaptive tracking control algorithm based on non-singular terminal sliding mode (NTSM) is proposed to solve the consensus problem of second-order multi-agent system (MAS) with disturbance. Firstly, a finite-time disturbance observer based on NTSM is introduced to estimate and compensate the disturbance. Then, a NTSM adaptive controller is designed to enhance the robustness of the system, and improve the response speed and tracking accuracy. A proof of the finite-time convergence of the method is given by using Lyapunov theory. Finally, simulation experiments are carried out to demonstrate the effectiveness of the proposed method. "
Keywords Disturbance observer, finite-time convergence, MAS, NTSM
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Regular Papers
International Journal of Control, Automation and Systems 2022; 20(8): 2534-2542
Published online August 1, 2022 https://doi.org/10.1007/s12555-021-0438-9
Copyright © The International Journal of Control, Automation, and Systems.
New Terminal Sliding Mode Consensus Algorithm for Disturbed Second-order Multi-agent Systems
Yan Ren, Huimin Wang*, Dong Xie, Meixia Yue, Kai Weng, Wei Gao, and Ning Liu
Inner Mongolia University of Science and Technology
Abstract
A finite-time adaptive tracking control algorithm based on non-singular terminal sliding mode (NTSM) is proposed to solve the consensus problem of second-order multi-agent system (MAS) with disturbance. Firstly, a finite-time disturbance observer based on NTSM is introduced to estimate and compensate the disturbance. Then, a NTSM adaptive controller is designed to enhance the robustness of the system, and improve the response speed and tracking accuracy. A proof of the finite-time convergence of the method is given by using Lyapunov theory. Finally, simulation experiments are carried out to demonstrate the effectiveness of the proposed method. "
Keywords: Disturbance observer, finite-time convergence, MAS, NTSM
Vol. 23, No. 1, pp. 1~88
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