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Sliding Mode Controller for Robust Consensus Control of Multirobot System
  • Aditya Sarkar
Aditya Sarkar
Indian Institute of Technology Mandi

Corresponding Author:[email protected]

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This letter proposes and analyzes three different methods to achieve robust consensus control in a leaderâ\euro“follower multiagent system framework prone to bounded disturbance in finite time. In the first method, a sliding mode surface is proposed using the basic definition of consensus. An upper bound on noise is considered while designing the surface. Then a Lyapunov stability analysis is used to determine the control law. Second method deals with using a high-gain disturbance observer to dynamically estimate the noise. A sliding mode surface was then developed using the estimates. Further, a Lyapunov analysis was done to show the stability of the system. Lastly, a new sliding surface based on High Gain DIsturbance Observer is proposed which alleviates the problem of mismatched uncertainties. A Lyapunov analysis was then performed to ensure convergence of the system in finite time. The robustness of the proposed approach is validated through simulations.