Sliding-Mode-Based Admissible Consensus Tracking of Nonlinear Singular Multiagent Systems Under Jointly Connected...

Area of Science:

• Control Theory
• Systems Engineering
• Networked Systems

Background:

• Investigates the complex admissible consensus tracking problem in nonlinear singular multiagent systems (SMASs).
• Addresses challenges posed by time-varying delays, system uncertainties, and external disturbances.
• Considers the impact of jointly connected topologies on system dynamics.

Purpose of the Study:

• To develop and validate a robust control strategy for achieving admissible consensus tracking in SMASs.
• To effectively mitigate the effects of uncertainties, nonlinearities, and external disturbances.
• To ensure that sliding-mode dynamics reach the sliding surface within a finite time.

Main Methods:

• Application of sliding-mode control (SMC) to manage system uncertainties and nonlinearities.
• Integration of admissible analysis and the Cauchy convergence criterion with SMC.
• Design of a distributed SMC law for finite-time convergence of sliding-mode dynamics.

Main Results:

• Sufficient conditions for admissible consensus tracking and disturbance rejection under jointly connected topologies are established.
• A distributed SMC law guarantees finite-time reaching of the sliding surface.
• Simulation results demonstrate the efficacy of the proposed control methods.

Conclusions:

• The presented SMC-based approach effectively solves the admissible consensus tracking problem for nonlinear SMASs.
• The control strategy ensures robust performance against delays, uncertainties, and disturbances.
• The findings are validated through simulations, confirming the practical applicability of the methods.