Consensus of heterogeneous second-order multi-agent systems with nonlinear dynamics via backstepping sliding mode control

This paper proposes a consensus control method for heterogeneous second-order multi-agent systems, where the system comprises both linear and nonlinear dynamics, based on backstepping sliding mode control with adaptive gain adjustment. By introducing a predefined-time control strategy, the method achieves robust control of complex dynamic systems under external disturbances. Compared to the original homogeneous nonlinear system, the heterogeneous design simplifies controller complexity for linear agents, enhances system robustness, and improves adaptability to diverse dynamics. The effectiveness and robustness of the proposed approach are validated through theoretical analysis and simulation experiments, demonstrating superior performance in convergence speed, disturbance rejection, and computational efficiency compared to existing methods.