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

Liu, Chun; Jiang, Bin; Patton, Ron J.; Zhang, Ke


Chun Liu

Bin Jiang

Ke Zhang


This paper proposes a novel decentralized output sliding-mode fault-tolerant control (FTC) design for heterogeneous multiagent systems (MASs) with matched disturbances, unmatched nonlinear interactions, and actuator faults. The respective iteration and iteration-free algorithms in the sliding-mode FTC scheme are designed with adaptive upper bounding laws to automatically compensate the matched and unmatched components. Then, a continuous fault-tolerant protocol in the observer-based integral sliding-mode design is developed to guarantee the asymptotic stability of MASs and the ultimate boundedness of the estimation errors. Simulation results validate the efficiency of the proposed FTC algorithm.


Liu, C., Jiang, B., Patton, R. J., & Zhang, K. (2020). Decentralized Output Sliding-Mode Fault-Tolerant Control for Heterogeneous Multiagent Systems. IEEE Transactions on Cybernetics, 50(12), 4934-4945.

Journal Article Type Article
Acceptance Date Apr 16, 2019
Online Publication Date May 6, 2019
Publication Date Dec 1, 2020
Deposit Date Feb 25, 2020
Publicly Available Date Feb 26, 2020
Journal IEEE transactions on cybernetics
Print ISSN 2168-2267
Electronic ISSN 2168-2275
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Volume 50
Issue 12
Pages 4934-4945
Keywords Actuator faults; Decentralized output feedback; Heterogeneous multiagent systems (HMASs); Integral sliding mode control (SMC) ; Sliding-mode fault-tolerant control (FTC)
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Article (635 Kb)

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