Robust cluster consensus of general fractional-order nonlinear multi agent systems via adaptive sliding mode controller

In this paper robust cluster consensus is investigated for general fractional-order multi agent systems with nonlinear dynamics with dynamic uncertainty and external disturbances via adaptive sliding mode controller. First, robust cluster consensus for general fractional-order nonlinear multi agent systems is investigated with dynamic uncertainty and external disturbances in which multi agent systems are weakly heterogeneous because they have identical nominal dynamics with different norm-bounded parameter uncertainties. Then, robust cluster consensus for the fractional-order nonlinear multi agent systems with general form dynamics is investigated by using adaptive sliding mode controller. Robust cluster consensus for general fractional-order nonlinear multi agent systems is achieved asymptotically without disturbance. It is shown that the errors between agents can converge to a small region in the presence of disturbances based on the linear matrix inequality (LMI) and Mittag-Leffler stability theory. Finally, simulation examples are presented for general form multi agent systems, i.e. a single-link flexible joint manipulator which demonstrates the efficiency of the proposed adaptive controller. (C) 2020 International Association for Mathematics and Computers in Simulation (IMACS). Published by Elsevier B.V. All rights reserved.