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

This paper investigates the problem of fault-tolerant consensus control of leader-following non-linear multi-agent systems (MAS) subject to actuator faults. Based on the relative states of neighbors, the consensus error dynamic is given. Then, a sliding mode surface based on consensus errors is prop...

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Bibliographic Details
Published in2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC) pp. 1 - 6
Main Authors Xu, Mengyang, Yang, Pu, Shu, Qibao
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2018
Subjects
actuator faults
Actuators
Asymptotic stability
Fault tolerance
Fault tolerant systems
fault-tolerant consensus
MAS
Multi-agent systems
Multi-robot systems
Navigation
Simulation
Sliding mode control
Stability analysis
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DOI10.1109/GNCC42960.2018.9019126

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Summary:This paper investigates the problem of fault-tolerant consensus control of leader-following non-linear multi-agent systems (MAS) subject to actuator faults. Based on the relative states of neighbors, the consensus error dynamic is given. Then, a sliding mode surface based on consensus errors is proposed and the stability of the states on the sliding mode surface is proved by using Lyapunov theory. Furthermore, a sliding mode fault-tolerant consensus protocol is proposed to compensate the actuator faults. According to the sliding mode control theory the new proposed sliding mode fault-tolerant controller ensures that the consensus of MAS can be reached in finite time. Finally, an example of leader-following multi-robot systems is presented to demonstrate the effectiveness of the proposed controller.
DOI:10.1109/GNCC42960.2018.9019126