Sliding-mode observers based distributed consensus control for nonlinear multi-agent systems with disturbances

The distributed consensus control problem for nonlinear multi-agent systems (MASs) with external disturbances under switching directed topologies is investigated. Distributed sliding-mode observers are designed considering both nonlinear dynamics and disturbances in MASs. Utilizing estimated states information via sliding-mode observers, a control protocol is constructed and analyzed to ensure the MASs reach consensus, and additionally guarantee the desired disturbance rejection criterion. Furthermore, the simulation experiment is carried out by taking multiple simple-pendulum network systems. By comparing this work with the related existing results, our designed observers are superior in estimating states information simultaneously considering both nonlinear dynamics and external disturbances, and the experiment result analysis shows validity of distributed consensus algorithm based on sliding-mode observers for MASs.

Automated summary

This study investigates the distributed consensus control problem for nonlinear multi-agent systems under switching directed topologies with external disturbances. By designing distributed sliding-mode observers and analyzing a control protocol, the study ensures consensus and disturbance rejection criteria are met. The simulation experiments with simple-pendulum network systems demonstrate the effectiveness of the designed observers in estimating states information while considering both nonlinear dynamics and external disturbances.