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Adaptive Sliding Mode Consensus Tracking for Second-Order Nonlinear Multiagent Systems With Actuator Faults.

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    This study introduces adaptive sliding mode control for nonlinear multiagent systems (MAS) to achieve consensus tracking despite disturbances and actuator faults. The adaptive mechanism ensures robust performance without needing prior system knowledge.

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    Area of Science:

    • Control Systems Engineering
    • Robotics and Automation
    • Networked Systems

    Background:

    • Multiagent systems (MAS) face challenges in achieving consensus tracking due to external disturbances and internal actuator faults.
    • Existing sliding mode control methods often suffer from chattering and require precise gain tuning.
    • Directed communication topologies with partial leader information access in MAS complicate decentralized control design.

    Purpose of the Study:

    • To develop a robust consensus tracking protocol for second-order nonlinear MAS.
    • To address actuator faults, including biased and partial effectiveness loss.
    • To overcome limitations of discontinuous sliding mode control, such as chattering and gain setting difficulties.

    Main Methods:

    • Investigated a discontinuous sliding mode tracking protocol for consensus.
    • Developed a continuous sliding mode tracking protocol with an adaptive mechanism.
    • Analyzed the protocol's performance under various actuator fault scenarios.
    • Utilized numerical simulations to validate theoretical findings.

    Main Results:

    • The proposed adaptive sliding mode protocol effectively achieves consensus tracking in MAS.
    • The adaptive mechanism automatically adjusts control gains, eliminating the need for prior system knowledge.
    • The protocol demonstrates resilience against biased and partial loss of effectiveness actuator faults.
    • Simulations confirm the theoretical efficiency and robustness of the developed control strategy.

    Conclusions:

    • The adaptive sliding mode control offers a robust and practical solution for consensus tracking in nonlinear MAS with disturbances and faults.
    • The developed continuous protocol mitigates chattering and simplifies control gain selection.
    • This approach enhances the reliability and performance of distributed systems operating under uncertain conditions.