Robust cluster consensus of general fractional-order nonlinear multi agent systems via adaptive sliding mode controller

Zahra Yaghoubi

Mathematics and Computers in Simulation (MATCOM), 2020, vol. 172, issue C, 15-32

Abstract: In this paper robust cluster consensus is investigated for general fractional-order multi agent systems with nonlinear dynamics with dynamic uncertainty and external disturbances via adaptive sliding mode controller. First, robust cluster consensus for general fractional-order nonlinear multi agent systems is investigated with dynamic uncertainty and external disturbances in which multi agent systems are weakly heterogeneous because they have identical nominal dynamics with different norm-bounded parameter uncertainties. Then, robust cluster consensus for the fractional-order nonlinear multi agent systems with general form dynamics is investigated by using adaptive sliding mode controller. Robust cluster consensus for general fractional-order nonlinear multi agent systems is achieved asymptotically without disturbance. It is shown that the errors between agents can converge to a small region in the presence of disturbances based on the linear matrix inequality (LMI) and Mittag-Leffler stability theory. Finally, simulation examples are presented for general form multi agent systems, i.e. a single-link flexible joint manipulator which demonstrates the efficiency of the proposed adaptive controller.

Keywords: Robust cluster consensus; Fractional-order multi agent systems; Adaptive sliding mode controller; External disturbances; Dynamic uncertainty (search for similar items in EconPapers)
Date: 2020
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Citations: View citations in EconPapers (4)

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Persistent link: https://EconPapers.repec.org/RePEc:eee:matcom:v:172:y:2020:i:c:p:15-32

DOI: 10.1016/j.matcom.2020.01.002

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