Consensus Tracking for Multiagent Systems Under Bounded Unknown External Disturbances Using Sliding-PID Control


  • Ahmed Almalki Aerospace Engineering Department, King Abdulaziz University, Jeddah 21589, Saudi Arabia
  • Belkacem Kada Aerospace Engineering Department, King Abdulaziz University, Jeddah 21589, Saudi Arabia


consensus tracking, multiagent systems, PID controller, sliding mode control, robustness


This paper is devoted to the study of consensus tracking for multiagent systems under unknown but bounded external disturbances. A consensus tracking protocol which is a combination between the conventional PID controller and sliding mode controller named sliding-PID protocol is proposed. The protocol is applied to the consensus tracking of multiagent system under bounded external disturbances where results showed high effectiveness and robustness.


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How to Cite

Almalki, A. ., & Kada, B. . (2020). Consensus Tracking for Multiagent Systems Under Bounded Unknown External Disturbances Using Sliding-PID Control. International Journal of Sciences: Basic and Applied Research (IJSBAR), 50(2), 143–153. Retrieved from