Multi-agent system tracking using sliding mode control combined with artificial potential

Other than feedback linearization method used in 2 dimensional space, a new control strategy of multi-agent system in three dimensional space is proposed in this paper. Based on sliding mode control, artificial potentials are combined used in the control strategy. It can be widely adopted to deal with the nonlinear plant in three dimensional space, and used for tracking static or moving goals robustly with obstacles in circumstances. The stability of the control strategy is proven by choosing proper Lyapunov function and also illuminated by some simulations.