Leader-Following Formation Control For Multi-Agent Systems With Sliding Mode Estimator Under Fixed Topologies

This paper(1) presents one leader-following formation control for second-order nonlinear multi-agent systems with nonsmooth sliding mode estimator. The states of all agents, are available locally within their neighbors, therefore nonsmooth sliding mode estimator is proposed and the real-time estimated values of the leader states are adopted in these formation protocols. By constructing an appropriate Lyapunov function containing both the estimation errors and the tracking errors, the stability of the systems are proved base upon the Lyapunov stability theory. As special cases, these formation protocols are reduced to synchronization ones. Finally, the numerical simulation was shown to verify the theoretical analysis.