Sliding mode consensus control for multi-agent systems under multi-node round-robin protocol

Abstract

This work investigates the consensus issue for nonlinear multi-agent systems (MASs) via the multi-node round-robin protocol (MRRP) and sliding mode control (SMC) method. The MRRP is used to schedule information transmissions among agents. On the one hand, considering the limited communication ability of the leader, the leader could take turns sending information to several nearby followers. On the other hand, for reasonably scheduling communication resources among followers, the number of follower’s sensor nodes could be automatically adjusted to transmit their information according to the size of the consensus error. Under the MRRP, a token-dependent sliding mode controller is designed to achieve consensus. And controller gains are obtained via the optimized algorithm. Eventually, two numerical simulation instances are furnished to substantiate the efficacy of the proposed SMC strategy under MRRP.

Keywords

• Multi-agent systems
• Consensus
• Multi-node round-robin protocol
• Sliding mode control