Consensus Control of Multi Agent System based on New Terminal Sliding Mode

The problem of leader-following consensus in multi-agent systems affected by external uncertain perturbations is thoroughly investigated in this paper. In order to address the challenges posed by these uncertainties, a finite-time disturbance observer using nonsingular fast terminal sliding mode (NFTSM) is designed to estimate and effectively compensate for the uncertainty disturbances in each follower. This approach allows for the real-time estimation of external disturbances that may influence the system, thereby ensuring accurate tracking of the leader’s trajectory. Subsequently, an adaptive nonsingular terminal sliding mode (ANTSM) controller is formulated, which integrates an adaptive estimation law into the control design. The key feature of the ANTSM controller is its ability to update the control gain online according to the disturbance information gathered by the observer. This update mechanism ensures that the system can maintain the desired tracking performance, even in the presence of uncertain external perturbations. Moreover, the proposed approach enhances the system’s convergence rate and improves the accuracy of state tracking. To ensure robustness and reliability, the stability of the proposed consistent control tracking algorithm is rigorously proven using Lyapunov theory. Ultimately, the efficacy and superiority of the proposed method are validated through a series of comprehensive numerical simulation experiments, demonstrating the effectiveness of the approach in achieving leader-following consensus in challenging environments.