Title: Adaptive sliding mode controller design for the bipartite consensus tracking of multi-agent systems with actuator faults and disturbances

Authors: Ehsan Nazemorroaya; Mahnaz Hashemi

Addresses: Department of Electrical Engineering, Islamic Azad University, Najafabad Branch, Najafabad, Iran ' Department of Electrical Engineering, Islamic Azad University, Najafabad Branch, Najafabad, Iran; Smart Microgrid Research Center, Islamic Azad University, Najafabad Branch, Najafabad, Iran

Abstract: This paper studies the bipartite consensus problem for second-order nonlinear multi-agent systems in the presence of actuator faults, unknown control gains and unknown external disturbances. The actuator faults are considered as partial loss of effectiveness fault and bias fault. For design controller, the control gains and disturbances only need to have unknown upper bounds. Also a signed bipartite directed graph is used for describing the communication topology of the multi-agent system. An adaptive sliding mode controller is developed for bipartite consensus tracking of the multi-agent system. The proposed adaptive sliding mode controller ensures the uniformly ultimately bounded cooperative tracking of the multi-agent system. Finally, the correctness and effectiveness of the proposed control method is verified via simulation results.

Keywords: actuator fault; bipartite consensus; adaptive sliding mode control; uniformly ultimately bounded; UUB.

DOI: 10.1504/IJAAC.2022.122598

International Journal of Automation and Control, 2022 Vol.16 No.3/4, pp.288 - 302

Received: 27 May 2020
Accepted: 07 Jul 2020
Published online: 04 May 2022 *

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