The Design of Hyperbolic Sliding Mode Controller based on State Observer for Formation Tracking of Uncertain Multi Agent Systems with Unknown Leader Input

Formation tracking for uncertain leader-follower multi-agent systems is considered in this paper. It is assumed that the leader trajectory is unknown to followers and there is also uncertainty in the model of each agent. The main purpose of this paper is to design a controller that achieves formation tracking for the multi-agent system which is robust against the model uncertainties each agent. For this purpose, a state observer based hyperbolic sliding model controller with finite reaching time has been designed. The designed observer is an Integral Chain Differentiator observer. The observer has been designed to be able to robustly estimate the system states in spite of parametric uncertainties in states and just via measurements of agents’ positions. Formation tracking, on the other hand is achieved via employing tangent hyperbolic sliding surfaces in the sliding mode controller. The analytical investigations and the simulation results are representative that the reaching time to sliding surface is finite and related to the controller parameters. Besides, the control input is limited and the chattering is not observed in the inputs and states.