A decentralized Second Order Sliding-Mode control of multi-agent system with communication delayReport as inadecuate




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1 Universidad Autonoma de Nuevo Leon Monterrey, Mexico 2 The University of the South Pacific 3 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

Abstract : This paper addresses the formation control problem of a multi-agent system MAS under the leader-follower scheme. Thus, the followers must to keep a desired relative distance with respect to the leader trajectory against known and constant communication delay. Thus, in order to ensured the coordinated behavior and formation control against parametric uncertainties and external disturbances, a decentralized control approach based on a state predictor and a Second Order Sliding Mode control is proposed. Sufficient conditions are provided to guarantee the stability of the closed-loop system. Finally, simulation results illustrate the effectiveness of the proposed method.





Author: Rubén Hernández - Jesús De León - Vincent Léchappé - Franck Plestan -

Source: https://hal.archives-ouvertes.fr/



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