Integral Sliding Mode Control for a Class of Nonlinear Multi-Agent Systems With Multiple Time-Varying Delays

This paper deals with the stability of nonlinear multi-agent systems (MASs) with multiple time delays. A class of multi-agent system (MAS) is constructed considering the effects of multiple time delays, nonlinearity, and uncertainty. An integral sliding mode surface is built based on the MAS, and the corresponding sliding mode dynamics are established. Using the Lyapunov method, sufficient conditions are obtained to ensure the sliding mode dynamic asymptotic stability with
$H_{\infty }$
performance. Consequently, the sliding mode controller parameter matrix is obtained. Furthermore, a sliding mode control law ensures that the considered system can be driven into the sliding mode surface. Finally, a numerical example is given to demonstrate the usefulness of the theoretical result.