Sliding Mode Control for a Class of Nonlinear Multi-agent System With Time Delay and Uncertainties

In this paper, a type of multi-agent system is adopted in the practical project with time delay, uncertainties, and linear feedback. In addition, sliding mode control is used to ensure the robust stability of the system since it is insensitive to parameter change and interference. For the system in three different conditions, namely fixed structure, every agent being only influenced by single time delay and each agent being affected by multiple time delay, the corresponding sliding surface and the control law are improved. The reaction factors are proven by Lyapunov functions and the linear matrix inequality approach is taken to guarantee the robust stability of the sliding surface. To prove the effectiveness of the conclusion, experiments on each condition are conducted. Besides, in the last part, a simple application is applied and proved to be effective.