Design of a Sliding Mode Fuzzy Consensus Controller for a Special class of Leader-Follower Nonlinear Multi-Agent Systems

Document Type : Original Paper

Authors

Department of Mathematics, Faculty of Science, University of Zanjan, Zanjan, Iran

Abstract

In this paper, we propose a fuzzy sliding mode controller (FSMC) for Multi-agent Systems (MAS) and investigate the leader-follower consensus problem for the network of nonlinear dynamic agents with an undirected graph topology. A new sliding mode controller is suggested to address the consensus problem in MASs. The proposed sliding mode controller is based on a separating hyperplane. In addition, a fuzzy controller is designed to eliminate the chattering phenomenon. According to the communication graph topology and the Lyapunov stability condition, the proposed FSMC satisfies the consensus condition. As an advantage of the control presented in this paper, the states of the system reach the sliding surface very quickly and remain on the surface. The advantage of the proposed approach is also illustrated by simulation results.

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References

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Journal of Advanced Mathematical Modeling
Volume 13, Issue 2 - Serial Number 30
September 2023
Pages 168-187

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History

  • Receive Date: 13 October 2022
  • Revise Date: 24 February 2023
  • Accept Date: 22 May 2023

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