Integral Sliding Mode Control for a Class of Nonlinear Multi-Agent Systems With Multiple Time-Varying Delays

This paper analyzes the stability of a class of nonlinear multiagent systems (MSs) with multiple time delays. A multiagent system (MS) is constructed considering the effects of multiple time delays, nonlinearity, and uncertainty. An integral sliding mode surface is built based on the MS, and then the corresponding sliding mode dynamics are established. Using the Lyapunov method, sufficient conditions are obtained to ensure the sliding mode dynamic asymptotic stability with H∞performance. Consequently, the sliding mode controller parameter matrix is obtained. Furthermore, a sliding mode control law ensures that the considered system can be driven into the sliding mode surface. Finally, a numerical example is given to demonstrate the usefulness of the theoretical result.