Distributed Min-consensus for Second-order Nonlinear System with Disturbances

Abstract

This paper investigates the distributed min-consensus for second-order nonlinear multi-agent systems with external disturbances. A discontinuous integral sliding mode (ISM) protocol combined with finite-time stability theory is applied and a novel min-consensus algorithm is proposed in this paper. To eliminate the chattering phenomenon due to the discontinuous control, a continuous ISM consensus protocol is proposed. It is shown that output of the agents reach a common min-consensus of their initial states. The validity of the min-consensus algorithm is illustrated by a numerical example.