Observer based sliding mode consensus controller design for nonlinear multi-agent systems

The observer based high order sliding mode controller design for affine nonlinear multi-agent systems (MAS) is derived in this paper. Stability of the overall system and controller, convergence of both the tracking and the observer errors to zero, robustness of the observer based controller against external disturbances and uncertainties and consensus in finite time are the main merits of the proposed method. It is assumed the states of the MAS are not available, the proposed observer methodology have been used to estimate the states variable. The simulation result presented capability of the presented method in both states observation and the finite-time consensus.