Event-Driven Sliding Mode Control for Multi-Agent Systems with Actuator Faults

This paper studies the event-driven sliding mode control problem for second-order multi-agent systems subject to actuator faults and proposes a control method for achieving fault-tolerant consensus. By defining a distributed event-driven integral-type sliding surface for each agent, distributed sliding mode controller and state-dependent event-triggered condition are subsequently co-designed. Moreover, compared with available results, continuous interactions within agents while detections can be removed in this paper which shows its rationality and applicability. Then, with stabilization analysis and sliding mode control theory, the admissible upper bound of fault severity is given to ensure the leader-follower consensus for multi-agent systems without Zeno behavior. Finally, a simulation is provided to support the theoretical results.