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Event-triggered Sliding Mode Fault-tolerant Consensus for a Class of Leader-follower Multi-agent Systems

Bo-Chao Zheng*, Lina Guo, and Kun Li
International Journal of Control, Automation, and Systems, vol. 19, no. 8, pp.2664-2673, 2021

Abstract : This paper concerns with the robust sliding mode fault-tolerant consensus problem for a class of undertain second-order leader-follower multi-agent systems based on event-triggering strategies. First, a sliding mode faulttolerant controller which uses the bound information of actuator failure rate and the event-triggering threshold is designed to ensure the robust consensus of the multi-agent systems, and the range of the sliding mode band is also shown. Second, by constructing an equivalent relationship, the upper bound of robust consensus error is also given. Third, the minimum event-triggered execution time for the second-order leader-follower multi-agent systems is calculated. Finally, the simulation results verify the effectiveness of the proposed event-triggered sliding mode fault-tolerant consensus algorithm.

Keyword : Event-triggered control, fault-tolerant, leader-follower multi-agent system, sliding mode control (SMC).

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