|Neural-Network-Based integral sliding-mode tracking control of secondorder multi-agent systems with unmatched disturbances and completely unknown dynamics
Xi Ma*, Fuchun Sun, HongBo Li, and Bing He
International Journal of Control, Automation, and Systems, vol. 15, no. 4, pp.1925-1935, 2017
Abstract : "This paper investigates the tracking control problem of second-order multi-agent systems (MASs) in
the presence of unmatched disturbances and completely unknown dynamics. The extended state observer (ESO)
and neural networks (NNs) are utilized to estimate and compensated the unmatched disturbances and unknown
dynamics, respectively. By constructed a novel integral sliding-mode manifold incorporated with ESO output,
a neural-network-based control algorithm is developed. Meanwhile, by Lyapunov theoretical analysis, the UUB
stability of the tracking errors as well as within a sufficiently small region is guaranteed by the appropriate choice
of the parameters. Simulation results show that the proposed method exhibits much better control performances
than the traditional I-SMC method, such as great robustness, reduced chattering and more accurate."
Keyword : "Completely unknown dynamics, extend state observer, integral sliding-mode control, neural networks, second-order multi-agent systems, unmatched disturbances."