Consensus tracking for a class of fractional-order non-linear multi-agent systems via an adaptive dynamic surface controller

Abstract

In this paper we investigate bottlenecks in adaptive dynamic surface control (DSC) and unveil an innovative consensus tracking controller to track the desired trajectory for a class of fractional-order multi-agent systems with non-linear dynamics. The study derives an algorithm by implementing graph theory and the DSC method. The main approaches in the control of fractional-order systems are the DSC and the adaptive DSC techniques to avoid the computational complexity of fractional-order virtual control law. According to these techniques, a virtual control law is formulated and the proposed controller is passed through a fractional-order dynamic surface. By employing the DSC and adaptive DSC laws, we demonstrate that the desired consensus tracking between agents can be ensured. To verify the performance of the new approach, we simulate the desirable scenarios and evaluate the results against a popular adaptive sliding mode technique.