Abstract
In this brief paper, a fully distributed sliding mode controller with fault compensation is designed to deal with the consensus problem of discrete-time first-order multi-agent systems with actuator faults. A novel fully distributed integral sliding surface (ISS) without global information is proposed to guarantee consensus when agents move on the sliding surface. Based on such a sliding manifold combined with identified faults, a fully distributed sliding mode fault-tolerant controller is constructed, while a sufficient condition is derived to guarantee the finite-time reachability of the distributed ISS. Finally, simulation results verify the effectiveness of the proposed control algorithm.
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