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

被引：3

作者：

Hu, Xukai ^{[1
]}

Yang, Pu ^{[1
]}

Ma, Ben ^{[2
]}

Zhang, Zhiqing ^{[1
]}

Wang, Zixin ^{[1
]}

机构：

[1] Nanjing Univ Aeronaut & Astronaut, Sch Automat, 29 Jiangjun Rd, Nanjing 211106, Jiangsu, Peoples R China

[2] Huawei Technol Co Ltd, 101 Ruanjian Ave, Nanjing 210012, Jiangsu, Peoples R China

来源：

JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS | 2021年 / 25卷 / 06期

基金：

中国国家自然科学基金;

关键词：

actuator faults; fault-tolerant consensus; sliding mode control; MAS; TIME; LEADER;

D O I：

10.20965/jaciii.2021.p0974

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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.

引用

页码：974 / 981

页数：8

共 18 条

[1] Formation control of VTOL Unmanned Aerial Vehicles with communication delays [J].

Abdessameud, Abdelkader ;

Tayebi, Abdelhamid .

AUTOMATICA, 2011, 47 (11) :2383-2394

[2] Finite-time synchronization of two different chaotic systems with unknown parameters via sliding mode technique [J].

Aghababa, Mohammad Pourmahmood ;

Khanmohammadi, Sohrab ;

Alizadeh, Ghassem .

APPLIED MATHEMATICAL MODELLING, 2011, 35 (06) :3080-3091

[3] Finite-time stability of continuous autonomous systems [J].

Bhat, SP ;

Bernstein, DS .

SIAM JOURNAL ON CONTROL AND OPTIMIZATION, 2000, 38 (03) :751-766

[4] Sliding mode control for multi-agent systems under a time-varying topology [J].

Dong, Lijing ;

Chai, Senchun ;

Zhang, Baihai ;

Nguang, Sing Kiong .

INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 2016, 47 (09) :2193-2200

[5] An adaptive sliding mode actuator fault tolerant control scheme for octorotor system [J].

Ejaz, Fatima ;

Hamayun, Mirza Tariq ;

Hussain, Shariq ;

Ijaz, Salman ;

Yang, Shunkun ;

Shehzad, Naeem ;

Rashid, Aamir .

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2019, 16 (02)

[6] Fuzzy logic systems-based integral sliding mode fault-tolerant control for a class of uncertain non-linear systems [J].

Hao, Li-Ying ;

Park, Ju H. ;

Ye, Dan .

IET CONTROL THEORY AND APPLICATIONS, 2016, 10 (03) :300-311

[7]

Hong Y., 2017, AUTOMATICA, V44, P846

[8] Decentralized Robust Adaptive Control for the Multiagent System Consensus Problem Using Neural Networks [J].

Hou, Zeng-Guang ;

Cheng, Long ;

Tan, Min .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 2009, 39 (03) :636-647

[9] Robust Finite-Time Consensus Tracking Algorithm for Multirobot Systems [J].

Khoo, Suiyang ;

Xie, Lihua ;

Man, Zhihong .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2009, 14 (02) :219-228

[10] Consensus of second-order nonlinear multi-agent systems via sliding mode observer and controller [J].

Li, Xiaolei ;

Luo, Xiaoyuan ;

Li, Shaobao ;

Li, Jianjin ;

Guan, Xinping .

JOURNAL OF SYSTEMS ENGINEERING AND ELECTRONICS, 2017, 28 (04) :756-765

← 1 2 →