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Robust cluster consensus of general fractional-order nonlinear multi agent systems via adaptive sliding mode controller

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  • Yaghoubi, Zahra

Abstract

In this paper robust cluster consensus is investigated for general fractional-order multi agent systems with nonlinear dynamics with dynamic uncertainty and external disturbances via adaptive sliding mode controller. First, robust cluster consensus for general fractional-order nonlinear multi agent systems is investigated with dynamic uncertainty and external disturbances in which multi agent systems are weakly heterogeneous because they have identical nominal dynamics with different norm-bounded parameter uncertainties. Then, robust cluster consensus for the fractional-order nonlinear multi agent systems with general form dynamics is investigated by using adaptive sliding mode controller. Robust cluster consensus for general fractional-order nonlinear multi agent systems is achieved asymptotically without disturbance. It is shown that the errors between agents can converge to a small region in the presence of disturbances based on the linear matrix inequality (LMI) and Mittag-Leffler stability theory. Finally, simulation examples are presented for general form multi agent systems, i.e. a single-link flexible joint manipulator which demonstrates the efficiency of the proposed adaptive controller.

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  • Yaghoubi, Zahra, 2020. "Robust cluster consensus of general fractional-order nonlinear multi agent systems via adaptive sliding mode controller," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 172(C), pages 15-32.
    • Handle: RePEc:eee:matcom:v:172:y:2020:i:c:p:15-32
    DOI: 10.1016/j.matcom.2020.01.002
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    1. Arthi, G. & Park, Ju H. & Suganya, K., 2019. "Controllability of fractional order damped dynamical systems with distributed delays," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 165(C), pages 74-91.
    2. Yang, Xujun & Li, Chuandong & Huang, Tingwen & Song, Qiankun, 2017. "Mittag–Leffler stability analysis of nonlinear fractional-order systems with impulses," Applied Mathematics and Computation, Elsevier, vol. 293(C), pages 416-422.
    3. Ping Gong & Kun Wang & Weiyao Lan, 2019. "Fully distributed robust consensus control of multi-agent systems with heterogeneous unknown fractional-order dynamics," International Journal of Systems Science, Taylor & Francis Journals, vol. 50(10), pages 1902-1919, July.
    4. Muñoz-Vázquez, Aldo Jonathan & Ortiz-Moctezuma, Manuel Benjamín & Sánchez-Orta, Anand & Parra-Vega, Vicente, 2019. "Adaptive robust control of fractional-order systems with matched and mismatched disturbances," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 162(C), pages 85-96.
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    1. Derakhshannia, Mehran & Moosapour, Seyyed Sajjad, 2022. "Disturbance observer-based sliding mode control for consensus tracking of chaotic nonlinear multi-agent systems," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 194(C), pages 610-628.

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