Consensus control for a class of linear multiagent systems using a distributed integral sliding mode strategy

In this paper, a consensus framework is proposed for a class of linear multiagent systems subject to matched and unmatched uncertainties in an undirected topology. A linear coordinate transformation is derived so that the consensus protocol design can be conveniently performed. The distributed consensus protocol is developed by using an integral sliding mode strategy. Consensus is achieved asymptotically and all subsystem states are bounded. By using an integral sliding mode control, the subsystems lie on the sliding surface from the initial time, which avoids any sensitivity to uncertainties during the reaching phase. By use of an appropriate projection matrix, the size of the equivalent control required to maintain sliding is reduced which reduces the conservatism of the design. MATLAB simulations validate the effectiveness and superiority of the proposed method.