Abstract
This letter proposes and analyzes three different methods to achieve
robust consensus control in a leaderâ\euro“follower multiagent system
framework prone to bounded disturbance in finite time. In the first
method, a sliding mode surface is proposed using the basic definition of
consensus. An upper bound on noise is considered while designing the
surface. Then a Lyapunov stability analysis is used to determine the
control law. Second method deals with using a high-gain disturbance
observer to dynamically estimate the noise. A sliding mode surface was
then developed using the estimates. Further, a Lyapunov analysis was
done to show the stability of the system. Lastly, a new sliding surface
based on High Gain DIsturbance Observer is proposed which alleviates the
problem of mismatched uncertainties. A Lyapunov analysis was then
performed to ensure convergence of the system in finite time. The
robustness of the proposed approach is validated through simulations.