adaptive sliding mode control design based on disturbance compensator for controlling multi-agent robots

In this research, the goal is to develop a sliding mode control strategy based on the disturbance compensator to control the arrangement of a multi-agent system. for this purpose, the exponential access law is used to derive chattering-independent sliding mode control laws. in this design method, the sliding level information and its sign are used simultaneously, and by properly adjusting the sliding gain so that it is relatively larger than the switching gain, chattering effects can be removed significantly. on the other hand, since the adjustment of the switching gain is closely related to the changes of uncertainty and external disturbances, an adaptive approach is used to determine it. this is done using the lyapunov stability theory and it is expected that the switching gain matching law is directly dependent on the instantaneous information of the sliding surface. in addition, to improve the consistency of the closed loop and adaptability to the environmental conditions and parameter changes of the system, a perturbation observer such as the developed mode observer is used.