Asymptotic sliding mode control approach to adaptive distributed tracking problem for multi-agent nonlinear delayed systems

摘要

In this article, a sliding mode coordinated decentralised state-feedback model reference adaptive control is developed for a class of large-scale uncertain multi-agent systems with time-varying delays in the nonlinear interconnections. The design procedure is based on a combination of the model coordination concept and a sliding mode control methodology. Novel decentralised controller parameterisations that are robust to unknown information exchange delays and to external disturbances with unknown bounds are proposed. Two different controllers are designed: one with discontinuous and one with continuous control action, respectively.