An Integral Sliding Mode-Based Robust Consensus Control Protocol Design for
Electro-Mechanical Systems

Qudrat KHAN^1*, Rini AKMELIAWATI², Mahmood Ashraf KHAN¹
¹CAST, COMSATS Institute of Information Technology,
Islamabad, 44000, Pakistan
qudratullah@comsats.edu.pk (^*Corresponding author), mahmoodashraf@comsats.edu.pk
² Kulliyyah of Mechatronics Engg, International Islamic University,
Kuala Lumpur, Malaysia
rakmelia@iium.edu.my o

ABSTRACT: This paper proposes a consensus tracking control for a class of second-order multi-agent nonlinear systems and generalizes the concept of integral sliding mode for networked systems. This design relies upon an integral manifold which is defined as a function of the consensus error variables. The designed integral manifold helps in the establishment of sliding mode without reaching phase. Consequently, the robustness against uncertainties is guaranteed from the very start. The continuous control components, of the control laws, governs the dynamics of the nonlinear system in sliding mode and the discontinuous terms handle the disturbances. The stability analysis is given to show the sliding mode establishment and an example is considered to demonstrate the benefits of the proposed strategy.

KEYWORDS: Networked multi-agent systems, Uncertain systems, Integral sliding mode, Robust Control.

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CITE THIS PAPER AS:
Qudrat KHAN, Rini AKMELIAWATI, Mahmood Ashraf KHAN, An Integral Sliding Mode-Based Robust Consensus Control Protocol Design for Electro-Mechanical Systems, Studies in Informatics and Control, ISSN 1220-1766, vol. 27(2), pp. 147-154, 2018. https://doi.org/10.24846/v27i2y201802