Sliding mode fault tolerant consensus control for multi-agent systems based on super-twisting observer

doi:10.23919/JSEE.2022.000150

Journal of Systems Engineering and Electronics ›› 2022, Vol. 33 ›› Issue (6): 1309-1319.doi: 10.23919/JSEE.2022.000150

• CONTROL THEORY AND APPLICATION • Previous Articles

Sliding mode fault tolerant consensus control for multi-agent systems based on super-twisting observer

Pu YANG(), Xukai HU(), Zixin WANG(), Zhiqing ZHANG()

¹ College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received:2021-04-13 Online:2022-12-18 Published:2022-12-24
Contact: Pu YANG E-mail:ppyang@nuaa.edu.cn;xkhu@nuaa.edu.cn;wangzixin@nuaa.edu.cn;zhiqingzhang@nuaa.edu.cn
About author:
YANG Pu was born in 1978. He received his B.S. and M.E. degrees in engineering from Northeastern University in 2000 and 2003, respectively, China. He received his Ph.D. degree in engineering from Southeast University in 2008, China. Presently he is an associate professor at School of Automation Engineering, Nanjing University of Aeronautics and Astronautics, China. His research interests include fault diagnosis, fault tolerant control, time-delay systems, and sliding mode control. E-mail: ppyang@nuaa.edu.cn

HU Xukai was born in 1996. He received his B.S. degree in automatic control from Nanjing University of Aeronautics and Astronautics, Nanjing, China, in 2019. Currently he is studying for his master degree in automatic control from Nanjing University of Aeronautics and Astronautics, Nanjing, China. His research interests include fault-tolerant control, sliding mode control, multi-agent control technology and their applications. E-mail: xkhu@nuaa.edu.cn

WANG Zixin was born in 1997. He received his B.S. degree in automatic control from Northeastern University, Shenyang, China, in 2019. Currently he is studying for his master degree in automatic control from Nanjing University of Aeronautics and Astronautics, Nanjing, China. His research interests include fault-tolerant control, sliding mode control, adaptive control and their applications. E-mail: wangzixin@nuaa.edu.cn

ZHANG Zhiqing was born in 1997. She received her B.S. degree in automatic control from Jiangnan University, Wuxi, China, in 2019. Currently, she is studying for her master degree in automatic control from Nanjing University of Aeronautics and Astronautics, Nanjing, China. Her research interests include fault-tolerant control, sliding mode control, model predictive control and their applications. E-mail: zhiqingzhang@nuaa.edu.cn
Supported by:
This work was supported by Key Laboratories for National Defense Science and Technology (6142605200402), the Aeronautical Science Foundation of China (20200007018001)，the National Natural Science Foundation of China (61922042)，the Aero Engine Corporation of China Industry-University-Research Cooperation Project (HFZL2020CXY011) and the Research Fund of State Key Laboratory of Mechanics and Control of Mechanical Structures (Nanjing University of Aeronautics and astronautics) (MCMS-I-0121G03).

Abstract

Abstract:

The fault-tolerant consensus problem for leader-following nonlinear multi-agent systems with actuator faults is mainly investigated. A new super-twisting sliding mode observer is constructed to estimate the velocity and undetectable fault information simultaneously. The time-varying gain is introduced to solve the initial error problem and peak value problem, which makes the observation more accurate and faster. Then, based on the estimated results, an improved sliding mode fault-tolerant consensus control algorithm is designed to compensate the actuator faults. The protocol can guarantee the finite-time consensus control of multi-agent systems and suppress chattering. Finally, the effectiveness and the superiority of the observer and control algorithm are proved by some simulation examples of the multi-aircraft system.

Key words: multi-agent system, sliding mode control, fault-tolerant consensus control, super-twisting sliding mode observer

Pu YANG, Xukai HU, Zixin WANG, Zhiqing ZHANG. Sliding mode fault tolerant consensus control for multi-agent systems based on super-twisting observer[J]. Journal of Systems Engineering and Electronics, 2022, 33(6): 1309-1319.

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Method	Estimated time of ${ {\boldsymbol{\beta} } _2}\left( t \right)$	Estimated time of ${ {\boldsymbol{\beta} } _4}\left( t \right)$
Observer in this paper	1.372	1.978
Observer in [31]	2.347	3.164

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Sliding mode fault tolerant consensus control for multi-agent systems based on super-twisting observer

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