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Leader-following Consensus Control of a Distributed Linear Multi-agent System using a Sliding Mode Strategy

Zhang, Y; Zhao, Y; Zhao, D; Yan, X; Spurgeon, S; (2020) Leader-following Consensus Control of a Distributed Linear Multi-agent System using a Sliding Mode Strategy. In: Proceedings of the 2020 European Control Conference (ECC). (pp. pp. 1695-1700). The Institute of Electrical and Electronics Engineers (IEEE) Green open access

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Abstract

A distributed leader-following consensus control framework is proposed for a linear system. The linear system is first transformed into a regular form. Then a linear sliding mode is designed to provide high robustness, and the corresponding consensus protocol is proposed in a fully distributed fashion. When matched disturbances are present, it can be demonstrated that the system states reach the sliding mode in finite time and consensus can be achieved asymptotically using Lyapunov theory and the invariant set theorem. Simulation results validate the effectiveness of the proposed algorithm.

Type: Proceedings paper
Title: Leader-following Consensus Control of a Distributed Linear Multi-agent System using a Sliding Mode Strategy
Event: 2020 European Control Conference
Location: Saint Petersburg, Russia
Dates: 12th-15th May 2020
ISBN-13: 978-3-90714-402-2
Open access status: An open access version is available from UCL Discovery
Publisher version: https://ieeexplore.ieee.org/document/9143674
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher's terms and conditions.
Keywords: Multi-agent systems, Linear systems, Uncertainty, Sliding mode control, Protocols, Eigenvalues and eigenfunctions, Robustness
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/10109097
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