标题：Robust admissible consensus of singular multi-agent systems using sliding mode approach
作者：Li M.; Ma S.; Yan Z.
作者机构：[Li, M] School of Mathematics, Shandong University, Jinan, Shandong, China, School of Electrical Engineering and Automation, Qilu University of Techno 更多
通讯作者地址：[Ma, S] School of Mathematics, Shandong UniversityChina;
来源：Asian Journal of Control
关键词：admissible consensus control; integral sliding mode; mismatched parametric uncertainties; singular multi-agent systems
摘要：The admissible consensus problem of singular multi-agent systems (SMASs) with mismatched norm-bounded parametric uncertainties and unknown norm-bounded disturbances is investigated by an integral sliding mode technique. Under a directed spanning tree network of the state transmission graph, the error states are defined. Then a linear matrix inequality (LMI)-based sufficient condition is presented to guarantee regularity, free impulse, quadratic stability and H∞ performance of the sliding mode dynamics of the error states. Next, an integral sliding manifold parameter is designed to decrease the order of the LMI caused by the parametric uncertainties, and matrix inversion formulas and inequality techniques are applied to reduce the conservativeness of the LMI. Finally, the control laws, relying on the error states, the property of the state transmission graph and the upper norm bound of disturbances, are presented to ensure the state trajectories of the resulting closed-loop system to achieve robust admissible consensus with H∞ performance. A simulation example is provided to show the effectiveness of the proposed method. © 2020 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd