Consensus disturbance rejection control for second-order multi-agent systems via nonsingular terminal sliding-mode control

In this paper, consensus disturbance rejection control problem for a class of second-order leader-follower multi-agent systems are investigated. Such systems not only contain unmeasurable states but also suffer from mismatched disturbances. By combining integral-type nonsingular terminal sliding-mode control technique and an extended-state observer technique together, finite-time consensus is achieved. Firstly, to obtain accurate information of the unmeasurable states and disturbances, an extended-state observer is designed for each follower. Secondly, the states and disturbances estimates are distributedly employed to design nonlinear terminal sliding-mode surfaces. Finally, based on these sliding-mode surfaces, sliding-mode consensus protocols are designed via output feedback. Simulations illustrate the effectiveness of the proposed distributed control scheme.