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Entropy
Volume 24
Issue 8
10.3390/e24081068
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Article

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

by
Pu Yang
*,
Yu Ding
,
Ziwei Shen
and
Kejia Feng
Department of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China
*
Author to whom correspondence should be addressed.
Entropy 2022, 24(8), 1068; https://doi.org/10.3390/e24081068
Submission received: 11 July 2022 / Revised: 30 July 2022 / Accepted: 30 July 2022 / Published: 2 August 2022
(This article belongs to the Topic Nonlinear Phenomena, Chaos, Control and Applications to Engineering and Science and Experimental Aspects of Complex Systems)
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Abstract

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.
Keywords: integral non-singular terminal sliding mode control (INTSMC); multi-agent systems (MASs); finite-time observer; fault-tolerant control integral non-singular terminal sliding mode control (INTSMC); multi-agent systems (MASs); finite-time observer; fault-tolerant control

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MDPI and ACS Style

Yang, P.; Ding, Y.; Shen, Z.; Feng, K. Integral Non-Singular Terminal Sliding Mode Consensus Control for Multi-Agent Systems with Disturbance and Actuator Faults Based on Finite-Time Observer. Entropy 2022, 24, 1068. https://doi.org/10.3390/e24081068

AMA Style

Yang P, Ding Y, Shen Z, Feng K. Integral Non-Singular Terminal Sliding Mode Consensus Control for Multi-Agent Systems with Disturbance and Actuator Faults Based on Finite-Time Observer. Entropy. 2022; 24(8):1068. https://doi.org/10.3390/e24081068

Chicago/Turabian Style

Yang, Pu, Yu Ding, Ziwei Shen, and Kejia Feng. 2022. "Integral Non-Singular Terminal Sliding Mode Consensus Control for Multi-Agent Systems with Disturbance and Actuator Faults Based on Finite-Time Observer" Entropy 24, no. 8: 1068. https://doi.org/10.3390/e24081068

APA Style

Yang, P., Ding, Y., Shen, Z., & Feng, K. (2022). Integral Non-Singular Terminal Sliding Mode Consensus Control for Multi-Agent Systems with Disturbance and Actuator Faults Based on Finite-Time Observer. Entropy, 24(8), 1068. https://doi.org/10.3390/e24081068

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