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Adaptive backstepping sliding mode control for leader-follower multi-agent systems

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4 Author(s)
D. Zhao ; College of Chemical Engineering, China University of Petroleum, Qingdao 266555, People's Republic of China ; T. Zou ; S. Li ; Q. Zhu

Facing the critical challenge in coordination control and uncertainty encountered in leader-follower multi-agent systems, this study proposes a new adaptive backstepping sliding mode control approach in light of integration of the advantages of backstepping and sliding mode control principles. A systematic controller design procedure is proposed with step-by-step implement details. Correspondingly, the stability analysis is presented to lay a foundation for analytical understanding in generic theoretical aspects and safe operation in real systems. Two simulated examples are selected to bench test the effectiveness and efficiency of the proposed approach.

Published in:

IET Control Theory & Applications  (Volume:6 ,  Issue: 8 )