A Fuzzy Sliding Mode Control for Nonlinear Leader-Follower Multi-Agent Systems
نویسندگان
1 Department of Mathematics, Faculty of Sciences, University of Zanjan, P.O. Box 45371-38791, Zanjan, Iran
2 Department of Mathematics, Faculty of Sciences, University of Zanjan, P.O. Box 45371-38791, Zanjan, Iran
doi
10.30473/coam.2023.64817.1209چکیده
In this paper, we present a new approach for achieving leader-follower consensus in a network of nonlinear dynamic agents with an undirected graph topology, using a fuzzy sliding mode controller (FSMC) for Multi-Agent Systems (MASs). Our proposed sliding mode controller is based on a separating hyperplane that effectively addresses the consensus problem in MASs. Additionally, we design a fuzzy controller to eliminate the chattering phenomenon. According to the communication graph topology and the Lyapunov stability condition, the proposed FSMC satisfies the consensus condition. One significant advantage of our approach is that the system states converge to the sliding surface quickly and remain on the surface, thereby ensuring better tracking performance. We validate the effectiveness of our proposed approach through simulation results.
