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Chin. Phys. B, 2017, Vol. 26(7): 070501    DOI: 10.1088/1674-1056/26/7/070501
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Tracking consensus for nonlinear heterogeneous multi-agent systems subject to unknown disturbances via sliding mode control

Xiang Zhang(张翔)1, Jin-Huan Wang(王金环)1, De-Dong Yang(杨德东)2, Yong Xu(徐勇)1
1 School of Sciences, Hebei Province Key Laboratory of Big Data Calculation, Hebei University of Technology, Tianjin 300401, China;
2 School of Control Science and Engineering, Hebei University of Technology, Tianjin 300130, China
Abstract  We investigate the tracking control for a class of nonlinear heterogeneous leader–follower multi-agent systems (MAS) with unknown external disturbances. Firstly, the neighbor-based distributed finite-time observers are proposed for the followers to estimate the position and velocity of the leader. Then, two novel distributed adaptive control laws are designed by means of linear sliding mode (LSM) as well as nonsingular terminal sliding mode (NTSM), respectively. One can prove that the tracking consensus can be achieved asymptotically under LSM and the tracking error can converge to a quite small neighborhood of the origin in finite time by NTSM in spite of uncertainties and disturbances. Finally, a simulation example is given to verify the effectiveness of the obtained theoretical results.
Keywords:  multi-agent systems      tracking consensus      distributed adaptive control      sliding mode  
Received:  16 January 2017      Revised:  14 March 2017      Accepted manuscript online: 
PACS:  05.45.Xt (Synchronization; coupled oscillators)  
  89.75.-k (Complex systems)  
  02.30.Hq (Ordinary differential equations)  
  02.30.Yy (Control theory)  
Fund: Project supported by the National Natural Science Foundation of China (Grant No.61203142) and the Natural Science Foundation of Hebei Province,China (Grant Nos.F2014202206 and F2017202009).
Corresponding Authors:  Jin-Huan Wang     E-mail:

Cite this article: 

Xiang Zhang(张翔), Jin-Huan Wang(王金环), De-Dong Yang(杨德东), Yong Xu(徐勇) Tracking consensus for nonlinear heterogeneous multi-agent systems subject to unknown disturbances via sliding mode control 2017 Chin. Phys. B 26 070501

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