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

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.