Fault-Tolerant Consensus Control for Discrete-Time Multi-Agent Systems: A Distributed Adaptive Sliding-Mode Scheme
Xinchen Guo, Guoliang Wei, Derui Ding
Abstract
In this brief, a fully distributed sliding mode controller with fault compensation is designed to deal with the consensus problem of discrete-time first-order multi-agent systems with actuator faults. A novel fully distributed integral sliding surface (ISS) without global information is proposed to guarantee consensus when agents move on the sliding surface. Based on such a sliding manifold combined with identified faults, a fully distributed sliding mode fault-tolerant controller is constructed, while a sufficient condition is derived to guarantee the finite-time reachability of the distributed ISS. Finally, simulation results verify the effectiveness of the proposed control algorithm.
Topics & Concepts
Integral sliding modeReachabilityControl theory (sociology)ConsensusController (irrigation)Fault toleranceComputer scienceSliding mode controlActuatorManifold (fluid mechanics)Mode (computer interface)Scheme (mathematics)Multi-agent systemFault (geology)Discrete time and continuous timeDistributed computingControl (management)EngineeringMathematicsAlgorithmArtificial intelligenceNonlinear systemMechanical engineeringAgronomyBiologyStatisticsGeologyQuantum mechanicsSeismologyPhysicsMathematical analysisOperating systemDistributed Control Multi-Agent SystemsAdaptive Control of Nonlinear SystemsTraffic control and management