A New Method to Design Distributed Consensus Controller for Linear Multi-Agent Systems With Directed Graphs

The consensus control of second-order linear multi-agent systems with velocity constraint under directed graphs is investigated. In this brief, a new distributed sliding mode control scheme is proposed. The novelty of this scheme is that we integrate the logarithmic barrier function with the sliding surface, then the consensus is achieved by showing the convergence of the sliding variable to zero, meanwhile, the boundedness of the sliding variable indicates the velocity constraint is satisfied. With the proposed method, the semi-global consensus control of second-order linear multi-agent systems with velocity constraints can be easily achieved under directed graph. The effectiveness of the results is illustrated through a numerical example.