Consensus Protocols for Heterogeneous Multiagent Systems with Disturbances via Integral Sliding Mode Control

Abstract

The existing results on consensus of multiagent systems are mainly based on homogeneous systems; that is, all agents have the same dynamic model. This paper focuses on consensus of heterogeneous multiagent systems, which consist of first-order and second-order integrator agents. Based on integral sliding mode control, the consensus protocols of heterogeneous multiagent systems with disturbances are investigated under the directed networks. Some sufficient conditions for finite-time consensus are obtained by utilizing Lyapunov stability theory. Finally, some examples verify the effectiveness of the proposed control schemes.