Adaptive Sliding Mode Consensus Tracking for Second-Order Nonlinear Multiagent Systems With Actuator Faults
研究了二阶非线性多智能体系统在有向通信拓扑下，存在扰动和执行器故障时，通过自适应滑模控制实现一致性跟踪的问题，并设计了连续滑模协议以消除抖振和自动调整增益。
This paper investigates the consensus tracking problem of second-order nonlinear multiagent systems (MAS) with disturbance and actuator fault by the sliding mode control method. The communication topology of the MAS is directed and only part of the followers have access to the leader's information. First, a discontinuous sliding mode tracking protocol is studied for consensus tracking of the MAS. Second, to address the shortcoming of chattering and difficulty of setting the control gain in the discontinuous protocol, a continuous sliding mode tracking protocol with an adaptive mechanism is developed. The adaptive mechanism will adjust the gain of the control automatically and enable the tracking protocol to work well without prior knowledge of the MAS. Third, the performance of the adaptive sliding mode protocol for consensus tracking of the MAS in the presence of actuator faults of biased fault and partial loss of effectiveness fault is further investigated. Finally, numerical simulations are performed to illustrate the efficiency of the theoretical results.