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In this paper, we consider the leader-follower consensus problem of multi-agent systems governed by second order dynamics with nonlinear terms. Taking into account the external disturbances, a leader-follower consensus tracking algorithm for each agent with high-order sliding mode control method is proposed to make all the followers track the leader. Then we prove that each agent can follow the leader...
in this work a new control technique combining integral sliding mode and multi-model concept is developed. It is based on a finite set of dynamic commutation surfaces which allow to have a completely robust behavior with respect to certain classes of uncertainties and to completely eliminate the chattering phenomenon. Simulations results show a notable improvement relatively to the classical sliding...
The paper studies the robust control of non-minimum phase nonlinear system based on the differential geometry theory. The nonlinear system could be expressed as input-output dynamics with the unstable internal modes, through nonlinear coordinate transformation. Virtual controller is introduced to stabilize zero dynamic, and the sliding mode controller, which is robust to the parameter perturbations...
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