Robust cluster consensus of general fractional-order nonlinear multi agent systems via adaptive sliding mode controller

Abstract

In this paper robust cluster consensus is investigated for general fractional-order multi agent systems with nonlinear dynamics with dynamic uncertainty and external disturbances via adaptive sliding mode controller. First, robust cluster consensus for general fractional-order nonlinear multi agent systems is investigated with dynamic uncertainty and external disturbances in which multi agent systems are weakly heterogeneous because they have identical nominal dynamics with different norm-bounded parameter uncertainties. Then, robust cluster consensus for the fractional-order nonlinear multi agent systems with general form dynamics is investigated by using adaptive sliding mode controller. Robust cluster consensus for general fractional-order nonlinear multi agent systems is achieved asymptotically without disturbance. It is shown that the errors between agents can converge to a small region in the presence of disturbances based on the linear matrix inequality (LMI) and Mittag-Leffler stability theory. Finally, simulation examples are presented for general form multi agent systems, i.e. a single-link flexible joint manipulator which demonstrates the efficiency of the proposed adaptive controller.