A dynamic sliding mode control method for multi-agent formation

Abstract

In this article, we study the formation control problem of multiple agents. In the past studies on sliding mode control, when the state trajectory reaches the sliding mode surface, it is difficult to strictly slide along the sliding mode surface to the equilibrium point, but it travels back and forth on both sides to approach the equilibrium point, resulting in chattering. This is also the main obstacle in the practical application of sliding mode control, and in actual scenarios, the agent has a limited communication distance and perception distance. In order to solve this problem, we propose a dynamic sliding mode control method. First, we establish an agent motion model to determine the leader and follower. The trajectory of the formation is deter-mined by the leader, and the follower agent maintains an ideal position in the leader coordinate system. Then, multiple agents conduct formation movement under the guidance of the leader. In this paper, two examples are used for simulation, and the simulation results show the effectiveness of the pro-posed formation control method.