Cooperative consensus tracking for hybrid multi-agent systems with slow interference time-varying signals and directed topology

In this paper, the cooperative consensus tracking control problem is investigated for hybrid multi-agent systems with slow interference time-varying signals and directed topology. First of all, the dynamical model of hybrid multi-agent system with slow interference time-varying signals is built up, which contains second-order continuous and first-order discrete time agents. Secondly, interference observers of first-order and second-order agents are introduced, which can effectively detect interference signals, and estimate the velocity of second-order agents to realize compensation. Meanwhile a kind of sliding mode controllers based on interference compensation are designed to come true the cooperative consensus tracking of hybrid multi-agent systems. Then, via Lyapunov method, the stability of hybrid multi-agent system is attested. And the sufficient conditions are given for the realization of cooperative consensus tracking. In the end, simulation examples ulteriorly demonstrate the validity of our results.