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Event-triggered adaptive sliding mode control for consensus of multiagent systems with unknown disturbances
Tianxing Chen1, Xuebin Zhuang1, Zhiwei Hou2
1School of Systems Science and Engineering, Sun Yat-Sen University, Guangzhou, 510000, China.
Scientific Reports
|October 19, 2022
Summary
This study introduces a robust distributed consensus control scheme using event-triggered adaptive sliding mode control for multiagent systems. The novel approach effectively handles unknown disturbances without needing disturbance bound information.
Area of Science:
- Control Systems Engineering
- Robotics
- Distributed Systems
Background:
- Multiagent systems require robust control strategies to achieve consensus despite external disturbances.
- Existing methods often struggle with unknown or time-varying perturbations, limiting their applicability.
Purpose of the Study:
- To develop a novel robust distributed consensus control scheme for multiagent systems.
- To address challenges posed by unknown disturbances within a leader-follower framework.
- To enhance control efficiency through an event-triggered adaptive sliding mode control approach.
Main Methods:
- Utilized an adaptive multivariate disturbance observer for disturbance compensation.
- Constructed a distributed consensus control protocol using integral sliding mode control.
- Designed a novel adaptive law for switching gain to manage unknown perturbations.
- Implemented an event-triggered strategy for control input updates.
- Analyzed feasibility using Lyapunov theory and derived a lower bound for inter-event time to prevent Zeno behavior.
Main Results:
- The proposed scheme effectively achieves robust distributed consensus in multiagent systems.
- The adaptive law and disturbance observer successfully compensate for unknown perturbations.
- The event-triggered strategy reduces control updates while ensuring system stability.
- Lyapunov analysis confirmed the scheme's feasibility and excluded Zeno behavior.
- Numerical simulations and a UAV application demonstrated superior performance compared to existing methods.
Conclusions:
- The developed event-triggered adaptive sliding mode control scheme offers a robust and efficient solution for consensus in multiagent systems with unknown disturbances.
- The algorithm's independence from disturbance bound information enhances its practical applicability.
- The successful application to UAVs highlights its significant potential in real-world scenarios.
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