Open AccessConsensus Sliding-Mode Fault-Tolerant Control for Second-Order Multi-Agent Systems
Author(s) -
Xukai Hu,
Pu Yang,
Ben Ma,
Zhiqing Zhang,
Zixin Wang,
Nanjing Astronautics Jiangjun Road,
Ltd. Ruanjian Avenue Huawei Technologies Co.
Publication year - 2021
Publication title -
journal of advanced computational intelligence and intelligent informatics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.172
H-Index - 20
eISSN - 1343-0130
pISSN - 1883-8014
DOI - 10.20965/jaciii.2021.p0974
Subject(s) - control theory (sociology) , sliding mode control , computer science , controller (irrigation) , actuator , consensus , lyapunov stability , nonlinear system , fault tolerance , mode (computer interface) , lyapunov function , fault (geology) , multi agent system , control (management) , distributed computing , artificial intelligence , physics , quantum mechanics , seismology , agronomy , biology , geology , operating system
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.