Consensus Tracking of Singular Multiagent Systems via Sliding Mode Approach

The admissible consensus tracking control of singular multiagent systems under nonlinear actuator attacks is investigated in this paper. A novel distributed adaptive protocol is designed, which can approximate the actuator attack by adaptive updating the weight matrix of neural network. An integral sliding surface is constructed based on the singularity of agents, and the sliding mode dynamics can reach the sliding mode surface in finite time under the proposed protocols. Sufficient conditions of impulse free and consensus tracking control of the singular multiagent systems are proved, and the attenuation of external disturbances is verified. The effectiveness of the proposed methods is verified through the numerical simulation examples.