Systems Engineering and Electronics

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Consensus of second-order nonlinear multi-agent systems via sliding mode observer and controller

Xiaolei Li1, Xiaoyuan Luo1,2,*, Shaobao Li1, Jianjin Li1, and Xinping Guan3   

  1. 1. School of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;
    2. Tandon School of Engineering, New York University, New York 11201, USA;
    3. Institute of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
  • Online:2017-08-25 Published:2010-01-03


This paper investigates the consensus problem of second-order nonlinear multi-agent systems (MASs) via the sliding mode control (SMC) approach. The velocity of each agent is assumed to be unmeasurable. A second-order sliding mode observer is designed to estimate the velocity. Then a distributed discontinuous control law based on first-order SMC is presented to solve the consensus problem. Moreover, to overcome the chatting problem, two controllers based on the boundary layer method and the super-twisting algorithm respectively are presented. It is shown that the MASs will achieve consensus under some given conditions. Some examples are provided to demonstrate the effectiveness of the proposed control laws.