Research on Consensus Problems with Second-Order Sliding Mode Algorithm in Multi-agent Systems

For a class of second order linear dynamic multiagent systems with leader and bounded input disturbance, a multi-agent system model is established by graph theory and matrix theory knowledge. A second-order sliding mode control algorithm based on finite state structure is applied to mult-iagent system. Under the condition that the first derivative of sliding mode is unknown, the control output is generated by switching between multiple state machines according to the measured value of sliding mode, so that the sliding mode and its first derivative converge to zero in a finite time, and to achieve the goal that the multi-agent system can be consistent for a limited period of timc.Thc algorithm weakens the chattering problem in the traditional sliding mode control, and improves the accuracy and robustness of the control system. The effectiveness of the algorithm is proved by simulation experiments.