Go to IEEE ICIST 2024 Conference homepageAdaptive Output Consensus of Heterogeneous Nonlinear Multi-agent Systems: A improved sliding mode approach
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.