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 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.