CONSENSUS TRACKING FOR NONLINEAR FRACTIONAL-ORDER MULTI-AGENT SYSTEMS USING ADAPTIVE SLIDING MODE CONTROLLER

Zahra Yaghoubi and Heidar A. Talebi

Keywords

Consensus tracking, fractional-order systems, nonlinear multi-agent systems, adaptive sliding mode control

Abstract

Consensus tracking for nonlinear fractional-order multi-agent systems is investigated in this paper. We analyse two cases: (i) followers are described by fractional-order linear systems, and (ii) followers are described by fractional-order nonlinear systems. At first, adaptive sliding mode controller for followers with fractional- order linear dynamics is designed. The stability of system is proved with the proposed controller by using Lyapunov direct method. Then, adaptive sliding mode controller is investigated for followers with fractional-order nonlinear dynamics and it is shown that consensus is achieved with its controller under certain conditions. Finally, simulation results are given to validate the proposed methodology.

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