A Terminal Fuzzy Sliding Mode Control for Nonlinear leader-follower Multi-agent Systems

Subject Areas : Statistics

Negar Izadi ^{1 *} , Mohammad Taghi Dastjerdi ²

1 - گروه ریاضی، دانشکده علوم، دانشگاه زنجان، زنجان، ایران
2 - گروه ریاضی، دانشکده علوم، دانشگاه زنجان، زنجان، ایران

Received: 2022-10-05 Accepted : 2023-04-18 Published : 2024-09-26

Keywords: کنترل مد لغزشی ترمینال, سیستم چند عاملی, اجماع, کنترل‌کننده فازی,

Abstract :

In this article, we present a terminal fuzzy sliding mode controller (TFSMC) for second order nonlinear uncertain leader follower multi agent systems. First, we propose a terminal sliding mode controller that is not only fast and non-singular, but also has a finite time condition in the reaching and sliding phases. Then, in order to eliminate chattering phenomena, a fuzzy sliding mode method is proposed and the stability of the closed-loop system in the lyapunove sense has been guaranteed. According to the communication graph topology and the Lyapunov stability condition, the proposed fuzzy terminal sliding mode controller satisfies the consensus condition in second-order nonlinear multiagent leader-follower systems. One of the main advantages of the controller presented in this article is that even if the initial error value is large, the system will reach equilibrium in a short period of time on the sliding surface. Finally, the advantages of the proposed theoretical approach are illustrated by the simulation results.

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