Fault‐tolerant consensus control of second‐order multi‐agent system based on sliding mode control theory

摘要

This paper mainly investigates the consensus implementation problem of multi‐wheeled mobile robot system in the case of actuator additive fault and external disturbance. By constructing the traditional sliding surface, the adaptive law about the upper bound estimation of actuator fault is designed and a fault‐tolerant consensus control algorithm for the second‐order multi‐agent system (MAS) in the case of actuator additive fault is proposed. Subsequently, the theoretical rationality of this algorithm is proved by Lyapunov‐related theory. In addition, the authors also propose a solution for the chattering problem of the traditional sliding surface by adjusting the adaptive law of the upper‐bound estimation of faults. Finally, the authors use a multi‐wheeled mobile robot system to verify the effectiveness of fault‐tolerant consensus algorithm proposed by this paper.