Finite-Time Consensus for Singularity-Perturbed Multiagent System via Memory Output Sliding-Mode Control

In some practical systems, it often remains difficult to directly measure all state variables. This article investigates the memory output sliding-mode control (SMC) for the finite-time consensus of singularly perturbed multiagent systems (SPMASs). First, the virtual state-feedback sliding surface (SFSS) is constructed to ensure the consensus of all agent states. Then, the unknown output derivatives in SFSS are approximated by a moving finite difference method with error estimation and refinement, which gives rise to a new delay-dependent sliding surface. On this basis, the memory output switching control law is designed to stabilize the consensus errors in finite time, even in the presence of estimation biases, singular perturbations, and input noises. Different from the observer-based SMC, the proposed memory output SMC is of simple static form without introducing extra dynamical structures for state estimation. The effectiveness and superiority of the design method are verified in an SPMAS with double-integrator dynamics.