Robust sliding modes based distributed control protocol for a class of underactuated nonlinear systems

In this paper, finite time sliding mode strategies based distributed control protocol design is presented for a class of uncertain underactuated nonlinear systems. The design process starts by first defining the general nonlinear dynamics of the leader as well as the followers. In the next strep, consensus/synchronization error dynamics are defined which reduce the networked multi-agent system’s dynamics to a single error dynamic system. Then sliding modes based regulating control protocol is designed for the constructed error dynamic system which in turn leads to the synchronization of the networked agents. The overall system’s closed loop stability is rigorously investigated via the Lyapunov stability theory. Finally, a suitable example is considered in the simulation study to comprehensively demonstrate the effectivity of the designed protocol.