Leader–follower consensus control for a nonlinear multi-agent robot system with input saturation and external disturbance

Abstract

This paper addresses the leader-follower consensus control problem for a nonlinear multi-agent robot system with control input constraint and external disturbances. Robot system is one of the most important practical systems in the industry. Due to the presence of disturbances in most practical systems, this paper considers the issue of finite-time leader-follower consensus control of the nonlinear multi-agent robot system along with actuator saturation and bounded disturbance. The modified terminal sliding mode control method is suggested for the system which is able to guarantee the stability of the overall system and fast finite-time leader-follower consensus control. For two different scenarios, the simulation of multi-agent robot system has been performed. The results show the effectiveness of the proposed control method.

Modeling of a non-linear multi-agent distributed control system

“…journal.ump.edu.my/jmes ◄ Definition 1 for initial condition xi (0) of the q agents, i = 1, 2…N, the leader-following consensus of the system is achieved if the following condition is satisfied by applying the input 𝑢 𝑖 . 𝑙𝑖𝑚 𝑡→∞ ‖𝑥 𝑖 (𝑡) − 𝑥 0 (𝑡)‖ = 0 (6) In this paper, it is assumed that the communication topology and the undirected topology 𝑮 is connected, then the leader sends its information to one follower. Assume that the non-linear term in the system satisfies the Lipschitz condition which there will be a constant 𝜃 > 0, such that…”

“…Many researchers have recently studied consensus issues from different perspectives. This is mainly due to their broad application in many fields, including robots [5][6][7][8][9], formations [10][11][12][13], unmanned aerial vehicles [14][15][16][17][18], unmanned surface vehicles [15,[19][20][21], unmanned underwater vehicles [21,22], sensor networks [23,24], etc.…”