Decentralized Sliding-mode and Fault-tolerant Control for Heterogeneous Multi-agent Systems

Abstract

This study proposes a decentralized sliding-mode and fault-tolerant control design for a kind of heterogeneous multiagent systems which contains matched disturbances, actuator faults and nonlinear interactions. The sliding-mode function and the decentralized fault-tolerant control protocol are developed so that the closed-loop systems can be asymptotically stable and the matched disturbances and actuator faults can be solved by the adaptive estimated upper bounding law. Simulation results validate the effectiveness of the proposed decentralized sliding-mode fault-tolerant control algorithm.