Author:
Hu Xukai,Yang Pu,Ma Ben,Zhang Zhiqing,Wang Zixin, ,
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.
Funder
National Science Key Lab Fund project
National Natural Science Foundation of China
Aeronautical Science Foundation of China
Publisher
Fuji Technology Press Ltd.
Subject
Artificial Intelligence,Computer Vision and Pattern Recognition,Human-Computer Interaction
Cited by
3 articles.
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