Research Article
Multi-surface sliding control for fast finite-time leader–follower consensus with high order SISO uncertain nonlinear agents
Suiyang Khoo,
Lihua Xie,
Shengkui Zhao,
Zhihong Man,
Corresponding Author
Suiyang Khoo
School of Engineering, Deakin University, Victoria 3216, Australia
Correspondence to: Suiyang Khoo, School of Engineering, Deakin University, Waurn Ponds Campus, Geelong VIC 3216, Australia.
E-mail: [email protected]
Search for more papers by this authorLihua Xie
School of Electrical and Electronic Engineering, Nanyang Technological University, 639798 Singapore
Search for more papers by this authorShengkui Zhao
Advanced Digital Sciences Center, 138632 Singapore
Search for more papers by this authorZhihong Man
School of Robotics & Mechatronics, Swinburne University, Hawthorn 3122, Australia
Search for more papers by this authorSuiyang Khoo,
Lihua Xie,
Shengkui Zhao,
Zhihong Man,
Corresponding Author
Suiyang Khoo
School of Engineering, Deakin University, Victoria 3216, Australia
Correspondence to: Suiyang Khoo, School of Engineering, Deakin University, Waurn Ponds Campus, Geelong VIC 3216, Australia.
E-mail: [email protected]
Search for more papers by this authorLihua Xie
School of Electrical and Electronic Engineering, Nanyang Technological University, 639798 Singapore
Search for more papers by this authorShengkui Zhao
Advanced Digital Sciences Center, 138632 Singapore
Search for more papers by this authorZhihong Man
School of Robotics & Mechatronics, Swinburne University, Hawthorn 3122, Australia
Search for more papers by this authorSUMMARY
In this paper, multi surface sliding cooperative control scheme is presented and new multiple sliding surfaces are proposed. It is proven that, for the setup that each agent is described by a chain of integrators, where the last integrator is perturbed by a bounded disturbance, leader–follower consensus can be achieved on these sliding surfaces if the communication graph has a directed spanning tree. Also, sliding variables can be driven to the sliding surfaces in fast finite time by the nonsmooth control law. The fast finite-time Lyapunov stability theorem, the terminal sliding control technique, and the adding a power integrator design approach are used in our proposed control. Simulation results demonstrate the effectiveness of the proposed scheme. Copyright © 2013 John Wiley & Sons, Ltd.
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