Admissible Consensus of Uncertain Continuous Singular Multi-agent Systems

Abstract

The admissible consensus problems of uncertain continuous singular multi-agent systems (UCSMASs) are concerned by sliding mode techniques. With a leader-follower communication network, a linear matrix inequality (LMI)-based sufficient condition for the existence of integral sliding manifolds is presented to guarantee exponentially quadratical stability of the sliding mode dynamics. The admissible consensus is achieved with certain convergence rates by a neighbor-control- law-based admissible consensus control law, and by a centralized control law based on the error states of neighbor agents and the Laplacian matrix, respecitvly. A numerical example is provided to show the effectiveness of the proposed theories.