Sliding mode approach for formation control of multi-agent systems with unknown nonlinear interactions

Hossein M H Abdoli; Majdeddin Najafi; Iman Izadi; Farid Sheikholeslam

doi:10.1016/j.isatra.2018.07.029

Sliding mode approach for formation control of multi-agent systems with unknown nonlinear interactions

ISA Trans. 2018 Sep:80:65-72. doi: 10.1016/j.isatra.2018.07.029. Epub 2018 Aug 7.

Authors

Hossein M H Abdoli¹, Majdeddin Najafi², Iman Izadi¹, Farid Sheikholeslam¹

Affiliations

¹ Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan 84156-83111, Iran.
² Research Institute for Avionics, Isfahan University of Technology, Isfahan 84156-83111, Iran. Electronic address: majd_najafi@cc.iut.ac.ir.

PMID: 30097180
DOI: 10.1016/j.isatra.2018.07.029

Abstract

This paper proposes nonlinear control approaches to solve a leader-follower formation of multi-agent system with unknown nonlinear interactions. Two distributed sliding mode control approaches are suggested here to track a leader in a desired formation with compensating unknown nonlinear terms. The nonlinear interaction terms can appear in multi-agent systems due to physical connections or cooperation between agents. Also the uncertainty in coefficient of control input is considered. Super twist algorithm is suggested for investigating this problem. Some Lyapunov functions are modified and employed to prove maintaining the formation of group, using the proposed sliding mode controllers. A simulation result for slung load transporting with quad-rotors is presented to demonstrate the capability of the proposed approaches.

Keywords: Distributed control; Multi-agent system; Nonlinear interaction; Super twist algorithm.