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New Terminal Sliding Mode Consensus Algorithm for Disturbed Second-order Multi-agent Systems

Yan Ren, Huimin Wang*, Dong Xie, Meixia Yue, Kai Weng, Wei Gao, and Ning Liu
International Journal of Control, Automation, and Systems, vol. 20, no. 8, pp.2534-2542, 2022

Abstract : "A finite-time adaptive tracking control algorithm based on non-singular terminal sliding mode (NTSM) is proposed to solve the consensus problem of second-order multi-agent system (MAS) with disturbance. Firstly, a finite-time disturbance observer based on NTSM is introduced to estimate and compensate the disturbance. Then, a NTSM adaptive controller is designed to enhance the robustness of the system, and improve the response speed and tracking accuracy. A proof of the finite-time convergence of the method is given by using Lyapunov theory. Finally, simulation experiments are carried out to demonstrate the effectiveness of the proposed method. "

Keyword : Disturbance observer, finite-time convergence, MAS, NTSM

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