IEEE Trans Cybern. 2019 May;49(5):1605-1615. doi: 10.1109/TCYB.2018.2805167. Epub 2018 Apr 2.
This paper investigates the consensus tracking problem of second-order nonlinear multiagent systems (MAS) with disturbance and actuator fault by the sliding mode control method. The communication topology of the MAS is directed and only part of the followers have access to the leader's information. First, a discontinuous sliding mode tracking protocol is studied for consensus tracking of the MAS. Second, to address the shortcoming of chattering and difficulty of setting the control gain in the discontinuous protocol, a continuous sliding mode tracking protocol with an adaptive mechanism is developed. The adaptive mechanism will adjust the gain of the control automatically and enable the tracking protocol to work well without prior knowledge of the MAS. Third, the performance of the adaptive sliding mode protocol for consensus tracking of the MAS in the presence of actuator faults of biased fault and partial loss of effectiveness fault is further investigated. Finally, numerical simulations are performed to illustrate the efficiency of the theoretical results.
本文采用滑模控制方法研究了具有干扰和执行器故障的二阶非线性多智能体系统（MAS）的一致性跟踪问题。MAS 的通信拓扑是有向的，只有部分跟随者可以访问领导者的信息。首先，研究了 MAS 一致性跟踪的不连续滑模跟踪协议。其次，为了解决不连续协议中抖振和控制增益设置困难的缺点，开发了具有自适应机制的连续滑模跟踪协议。自适应机制将自动调整控制增益，使跟踪协议在不了解 MAS 的情况下也能正常工作。第三，进一步研究了 MAS 在存在有偏故障和部分失效故障的执行器故障情况下的自适应滑模协议对一致性跟踪的性能。最后，通过数值模拟验证了理论结果的有效性。
