Leader-Follower Consensus Control of Multi-Agent Systems With Disturbance by Distributed Sliding Mode Control

Abstract

This paper addresses the leader-follower consensus control of multi-agent systems (MASs) in the presence of external disturbance, utilizing a distributed sliding mode control (DSMC) approach. We first formulate the consensus problem, where a designated leader influences the behavior of multiple follower agents. The proposed DSMC strategy is designed to enhance robustness against disturbances and uncertainties inherent in the system. By leveraging the sliding mode control theory, we ensure that the agents maintain desired trajectories while effectively rejecting external perturbations. Theoretical analysis demonstrates the stability and convergence of the consensus protocol, supported by simulation results showcasing the efficacy of the DSMC method in practical scenarios. This work contributes to the field of multi-agent systems by providing a reliable control framework capable of achieving consensus under challenging conditions, making it applicable in various domains, including robotics and autonomous vehicles.