Disturbance observer-based integral sliding-mode control design for leader-following consensus of multi-agent systems and its application to car-following model

In this manuscript, the memory-based integral sliding-mode control (MBISMC) that depends on a disturbance observer (DOB) is designed for the multi-agent systems (MASs) with mismatched disturbance. To do this, DOB is provided to estimate disturbances, which are included in the controller design procedure. Besides that, an integral-type surface function (ISF) is intended to model the properties of the MASs and DOB. The designed ISF contains not only a state-dependent input matrix but also memory information. To date, the stability properties of the MAS with external disturbances, parameter uncertainties, and MBISMC have not been studied in the literature, which is the primary impetus for this research. Further, an H-8-theory and Lyapunov-Krasovskii functional (LKF) is applied to derive sufficient stability conditions that ensure the global asymptotic consensus of the presented model. Meanwhile, the mismatched disturbances of considered MASs are attenuated effectively by the MBISMC method. In conclusion, three numerical examples are offered to demonstrate the practicality and usefulness of the proposed design techniques.

Automated summary

In this manuscript, a memory-based integral sliding-mode control (MBISMC) is designed for multi-agent systems (MASs) with mismatched disturbances by using a disturbance observer (DOB). The DOB is used to estimate disturbances and is included in the controller design procedure. An integral-type surface function (ISF) is used to model the properties of the MASs and DOB, which contains a state-dependent input matrix and memory information. The stability properties of MASs with external disturbances, parameter uncertainties, and MBISMC have not been studied, and this research aims to fill this gap. Furthermore, sufficient stability conditions are derived using H-8 theory and Lyapunov-Krasovskii functional (LKF) to ensure global asymptotic consensus, and the MBISMC method effectively attenuates the mismatched disturbances of the MASs. Three numerical examples are provided to demonstrate the practicality and usefulness of the proposed design techniques.