Distributed Model-Free Adaptive Command-Filter-Backstepping Sliding Mode Control for High-Order Multi-Agent Systems Consensus Tracking

This paper investigates the distributed sliding mode control for high-order multi-agent systems. First, a sliding mode control algorithm with backstepping method is proposed to consensus tracking of high-order multi-agent systems. Furthermore, due to the complexity explosion caused by backstepping method, the discrete-time command filters is introduced to eliminate the influences of complexity explosion. Next, the observer which only using I/O data is designed to estimate the pseudo-partial derivative. Finally, the effectiveness of the proposed method is verified by simulation result.