Sliding mode fault tolerant consensus control for multi-agent systems based on super-twisting observer  

作　　者：YANG Pu HU Xukai WANG Zixin ZHANG Zhiqing 

机构地区：[1]College of Automation,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China

出　　处：《Journal of Systems Engineering and Electronics》2022年第6期1309-1319,共11页系统工程与电子技术（英文版）

基　　金：supported by Key Laboratories for National Defense Science and Technology(6142605200402);the Aeronautical Science Foundation of China(20200007018001);the National Natural Science Foundation of China(61922042);the Aero Engine Corporation of China Industry-University-Research Cooperation Project(HFZL2020CXY011);the Research Fund of State Key Laboratory of Mechanics and Control of Mechanical Structures(Nanjing University of Aeron autics and astronautics)(MCMS-I-0121G03)。

摘　　要：The fault-tolerant consensus problem for leader-following nonlinear multi-agent systems with actuator faults is mainly investigated.A new super-twisting sliding mode observer is constructed to estimate the velocity and undetectable fault information simultaneously.The time-varying gain is introduced to solve the initial error problem and peak value problem,which makes the observation more accurate and faster.Then,based on the estimated results,an improved sliding mode fault-tolerant consensus control algorithm is designed to compensate the actuator faults.The protocol can guarantee the finite-time consensus control of multi-agent systems and suppress chattering.Finally,the effectiveness and the superiority of the observer and control algorithm are proved by some simulation examples of the multi-aircraft system.

关 键 词：multi-agent system sliding mode control fault-tolerant consensus control super-twisting sliding mode observer 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]