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Integral Non-Singular Terminal Sliding Mode Consensus Control for Multi-Agent Systems with Disturbance and Actuator Faults Based on Finite-Time Observer

This paper studies the consensus fault-tolerant control problem of a class of second-order leader–follower multi-agent systems with unknown disturbance and actuator faults, and proposes an integral non-singular terminal sliding mode control algorithm based on a finite-time observer. First, a finite-...

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Detalles Bibliográficos
Autores principales: Yang, Pu, Ding, Yu, Shen, Ziwei, Feng, Kejia
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9407174/
https://www.ncbi.nlm.nih.gov/pubmed/36010731
http://dx.doi.org/10.3390/e24081068
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author Yang, Pu
Ding, Yu
Shen, Ziwei
Feng, Kejia
author_facet Yang, Pu
Ding, Yu
Shen, Ziwei
Feng, Kejia
author_sort Yang, Pu
collection PubMed
description This paper studies the consensus fault-tolerant control problem of a class of second-order leader–follower multi-agent systems with unknown disturbance and actuator faults, and proposes an integral non-singular terminal sliding mode control algorithm based on a finite-time observer. First, a finite-time disturbance observer was designed based on a combination of high-order sliding mode and dual layers adaptive rules to realize fast estimation and compensation of disturbance and faults. Then, a sliding surface with additional integral links was designed based on the conventional sliding surface, and an integral non-singular terminal sliding mode controller is proposed to realize the robust consensus in finite time and accurately diminish the chattering phenomena. Finally, a numerical example and simulation verify the effectiveness.
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spelling pubmed-94071742022-08-26 Integral Non-Singular Terminal Sliding Mode Consensus Control for Multi-Agent Systems with Disturbance and Actuator Faults Based on Finite-Time Observer Yang, Pu Ding, Yu Shen, Ziwei Feng, Kejia Entropy (Basel) Article This paper studies the consensus fault-tolerant control problem of a class of second-order leader–follower multi-agent systems with unknown disturbance and actuator faults, and proposes an integral non-singular terminal sliding mode control algorithm based on a finite-time observer. First, a finite-time disturbance observer was designed based on a combination of high-order sliding mode and dual layers adaptive rules to realize fast estimation and compensation of disturbance and faults. Then, a sliding surface with additional integral links was designed based on the conventional sliding surface, and an integral non-singular terminal sliding mode controller is proposed to realize the robust consensus in finite time and accurately diminish the chattering phenomena. Finally, a numerical example and simulation verify the effectiveness. MDPI 2022-08-02 /pmc/articles/PMC9407174/ /pubmed/36010731 http://dx.doi.org/10.3390/e24081068 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Yang, Pu
Ding, Yu
Shen, Ziwei
Feng, Kejia
Integral Non-Singular Terminal Sliding Mode Consensus Control for Multi-Agent Systems with Disturbance and Actuator Faults Based on Finite-Time Observer
title Integral Non-Singular Terminal Sliding Mode Consensus Control for Multi-Agent Systems with Disturbance and Actuator Faults Based on Finite-Time Observer
title_full Integral Non-Singular Terminal Sliding Mode Consensus Control for Multi-Agent Systems with Disturbance and Actuator Faults Based on Finite-Time Observer
title_fullStr Integral Non-Singular Terminal Sliding Mode Consensus Control for Multi-Agent Systems with Disturbance and Actuator Faults Based on Finite-Time Observer
title_full_unstemmed Integral Non-Singular Terminal Sliding Mode Consensus Control for Multi-Agent Systems with Disturbance and Actuator Faults Based on Finite-Time Observer
title_short Integral Non-Singular Terminal Sliding Mode Consensus Control for Multi-Agent Systems with Disturbance and Actuator Faults Based on Finite-Time Observer
title_sort integral non-singular terminal sliding mode consensus control for multi-agent systems with disturbance and actuator faults based on finite-time observer
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9407174/
https://www.ncbi.nlm.nih.gov/pubmed/36010731
http://dx.doi.org/10.3390/e24081068
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