Consensus control for a class of linear multiagent systems using a distributed integral sliding mode strategy |
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| Institution: | 1. College of New Energy, China University of Petroleum (East China), Qingdao, 266580 China;2. School of Engineering & Digital Arts, University of Kent, Canterbury CT2 7NT, United Kingdom;3. Department of Electronic & Electrical Engineering, University College London, Torrington Place, London WC1E 7JE, U.K.;1. Department of Electrical and Computer Engineering, University of Alberta, Edmonton T6G 2W3, Canada;2. Department of Electrical Engineering, Sahand University of Technology, Tabriz, Iran;1. Department of Mathematics, Bharathiar University, Coimbatore 641 046, Tamilnadu, India;2. Department of Mathematics, Rathinam College of Arts and Science, Coimbatore 641 021, Tamilnadu, India;1. School of Mathematical Sciences, Liaocheng University, Liaocheng, Shandong 252059, PR China;2. School of Electrical and Automation Engineering, Nanjing Normal University, Nanjing 210094, PR China;1. Faculty of Electric Power Engineering, Kunming University of Science and Technology, Kunming 650500, China;2. School of Automation, Chongqing University, Chongqing 400030, China |
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| Abstract: | In this paper, a consensus framework is proposed for a class of linear multiagent systems subject to matched and unmatched uncertainties in an undirected topology. A linear coordinate transformation is derived so that the consensus protocol design can be conveniently performed. The distributed consensus protocol is developed by using an integral sliding mode strategy. Consensus is achieved asymptotically and all subsystem states are bounded. By using an integral sliding mode control, the subsystems lie on the sliding surface from the initial time, which avoids any sensitivity to uncertainties during the reaching phase. By use of an appropriate projection matrix, the size of the equivalent control required to maintain sliding is reduced which reduces the conservatism of the design. MATLAB simulations validate the effectiveness and superiority of the proposed method. |
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