Decentralized Output Sliding-Mode Fault-Tolerant Control for Heterogeneous Multiagent Systems

Area of Science:

• Control Systems Engineering
• Robotics and Automation
• Networked Systems

Background:

• Multiagent systems (MASs) face challenges from disturbances, nonlinear interactions, and actuator faults.
• Existing fault-tolerant control (FTC) methods may struggle with heterogeneous MASs and complex uncertainties.

Purpose of the Study:

• To design a novel decentralized output sliding-mode fault-tolerant control (FTC) for heterogeneous MASs.
• To address matched disturbances, unmatched nonlinear interactions, and actuator faults within the MAS.
• To ensure system stability and boundedness of estimation errors under fault conditions.

Main Methods:

• Development of iteration and iteration-free algorithms within a sliding-mode FTC framework.
• Integration of adaptive upper bounding laws to compensate for system uncertainties.
• Design of a continuous fault-tolerant protocol using an observer-based integral sliding-mode approach.

Main Results:

• The proposed FTC algorithm effectively compensates for matched and unmatched system components.
• Guaranteed asymptotic stability of the multiagent systems (MASs) is achieved.
• Ultimate boundedness of estimation errors is demonstrated through the observer-based design.

Conclusions:

• The developed decentralized sliding-mode FTC is efficient for heterogeneous MASs.
• The adaptive laws and integral sliding-mode protocol ensure robust and stable system operation.
• Simulation results confirm the practical efficacy of the proposed fault-tolerant control strategy.