Robust Cooperative Optimal Sliding-Mode Control for High-Order Nonlinear Systems: Directed Topologies

This article is concerned with the robust cooperative optimal control of nonlinear multiagent systems (MASs) with external disturbances and modeling uncertainties. Using the super-twisting algorithm, a continuous sliding-mode control protocol is presented for high-order nonlinear MASs with multiple inputs. The sliding-mode dynamics is modeled by the Takagi-Sugeno fuzzy approach, and the nominal control protocol that guarantees the robust optimization of the cost function is designed. Directed topologies are allowed using the presented protocol, and many assumptions about topologies are removed. Finally, three numerical examples are reported to demonstrate the effectiveness and improved performance of the presented protocol.