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JACIII Vol.25 No.6 pp. 974-981
doi: 10.20965/jaciii.2021.p0974
(2021)

Paper:

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Consensus Sliding-Mode Fault-Tolerant Control for Second-Order Multi-Agent Systems

Xukai Hu*, Pu Yang*,†, Ben Ma**, Zhiqing Zhang*, and Zixin Wang*

*School of Automation, Nanjing University of Aeronautics and Astronautics
29 Jiangjun Road, Nanjing, Jiangsu 211106, China

**Huawei Technologies Co., Ltd.
101 Ruanjian Avenue, Nanjing, Jiangsu 210012, China

†Corresponding author

Received:
April 1, 2020
Accepted:
September 3, 2021
Published:
November 20, 2021
Creative Commons License
Keywords:
actuator faults, fault-tolerant consensus, sliding mode control, MAS
Abstract

This study investigates the consensus problem of second-order nonlinear multi-agent systems (MASs) with actuator faults via a sliding mode control approach. The consensus error dynamic is given based on the relative states of the neighbors. Then, a sliding mode surface based on consensus errors is proposed, and the asymptotic stability of the sliding mode is proved using the Lyapunov theory. Furthermore, a sliding-mode fault-tolerant consensus protocol is proposed to compensate for actuator faults. According to the sliding mode control theory, the proposed sliding-mode fault-tolerant controller ensures that the consensus of the MASs can be reached in a finite time. Finally, a simulation example of a second-order multi-robot system is presented to demonstrate the effectiveness of the proposed controller.

Cite this article as:
X. Hu, P. Yang, B. Ma, Z. Zhang, and Z. Wang, “Consensus Sliding-Mode Fault-Tolerant Control for Second-Order Multi-Agent Systems,” J. Adv. Comput. Intell. Intell. Inform., Vol.25 No.6, pp. 974-981, 2021.
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Last updated on Apr. 22, 2024