Leader‐following consensus of nonlinear singular switched multi‐agent systems via sliding mode control

Abstract

AbstractIn this paper, the sliding mode control algorithm is proposed for solving the leader‐following consensus issue of singular switched multi‐agent systems. The communication topology herein is considered to be directed interacted. To deal with the effects of nonlinearity and singularity, a novel integral‐type sliding mode control protocol is introduced in algorithmic design, which enforces the state trajectories of systems moving on the constructed sliding manifold. The common integral‐type sliding mode gain matrix designed in distributed algorithms herein avoids the frequent switching that may cause the failure and instability of the control framework. Moreover, in the existing works, the developed results on consensus for singular switched multi‐agent systems are almost based on the average dwell time method, and how to construct a desired control input in the frame of the mode‐dependent average dwell time remains a control dilemma. By presenting a general integral‐type sliding mode control rule based on the mode‐dependent average dwell time, this article implements the sliding mode control for the singular switched multi‐agent systems under interest. With the aid of Lyapunov method, the convergence of error systems for multi‐agent systems is obtained. Finally, numerical simulations and application are presented, which illustrate the validity of designed algorithm.