Abstract
The admissible consensus tracking problem of nonlinear singular multiagent systems (SMASs) with time-varying delay, uncertainties, and external disturbances under jointly connected topologies is investigated in this article. First, the sliding-mode control (SMC) is applied to effectively reduce the adverse effects of uncertainties and nonlinearities of systems. Then, by the combination of admissible analysis, the Cauchy convergence criterion, and SMC, the sufficient conditions for the admissible consensus tracking and disturbance rejection of SMASs under jointly connected topologies are provided. Furthermore, a distributed SMC law is designed such that the sliding-mode dynamics trajectories reach the sliding surface in finite time. Finally, the simulation results are utilized to indicate the effectiveness of the presented methods.
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