Study of Adaptive Sliding Mode Control for Heterogeneous Multi-Agent Systems

Abstract

Addresses the problem of adaptive control for heterogeneous multi-agent systems described by partial differential equations, taking into account the influence of unknown disturbances. An adaptive sliding mode control algorithm is proposed, which consists of a tunable two-parameter regulator. Based on the Lyapunov function method, a proof of global stability for the considered system is presented, along with the convergence of the algorithm in finite time. The results of computer simulations of the adaptive control system are shown, demonstrating faster convergence of the adaptive algorithm and lower energy consumption compared to a fixed-gain regulator.