Adaptive Output Consensus of Heterogeneous Nonlinear Multi-agent Systems: A improved sliding mode approach

Meilin Li

Abstract:

Achieving output consensus in heterogeneous nonlinear
multi-agent systems (MAS) presents significant challenges
due to the diversity in agent dynamics and the inherent nonlinearity
of their interactions. This paper proposes an improved
sliding mode control (SMC) approach to address these challenges
and achieve adaptive output consensus in such systems. By integrating
adaptive techniques with traditional SMC, the proposed
method dynamically adjusts control parameters in response to the
systems varying conditions, ensuring robust performance even in
the presence of model uncertainties and external disturbances.
The adaptive mechanism enhances the system’s resilience by
reducing chattering effects commonly associated with SMC
while maintaining high precision in consensus achievement. The
efficacy of the proposed approach is validated through rigorous
theoretical analysis and simulation studies, demonstrating its
superior performance in achieving output consensus in heterogeneous
nonlinear MAS compared to existing methods.

Submission Number: 216