Second-Order Super-Twisting Sliding Mode Control for Finite-Time Leader-Follower Consensus with Uncertain Nonlinear Multiagent Systems

الملخص EN

Consensus tracking problem of the leader-follower multiagent systems is resolved via second-order super-twisting sliding mode control approach.

The followers’ states can keep consistent with the leader’s states on sliding surfaces.

The proposed approach can ensure the finite-time consensus if the directed graph of the nonlinear system has a directed path under the condition that leader’s control input is unavailable to any followers.

It is proved by using the finite-time Lyapunov stability theory.

Simulation results verify availability of the proposed approach.