Fixed-Time Sliding Mode Fault-Tolerant Consensus Control for Second-Order Multi-Agent System with Actuator Fault

Aiming at the problems of unmeasurable leader state and actuator fault for second-order multi-agent system (MAS), the distributed robust sliding mode fault-tolerant control method based on fixed-time state observer (FTSO) is adopted to realize the fixed time fault-tolerant consensus tracking control for the MAS. The MAS is under the undirected communication topology. The actuator fault is including partial loss of effectiveness (PLOE) fault and bias fault. Firstly, a fixed time state observer is designed for each follower to obtain the state information of the leader. Secondly, for followers with actuator faults, the distributed fixed-time robust sliding mode fault-tolerant controller is designed to realize fault-tolerant consensus tracking control. Thirdly, the Lyapunov stability theorem is used to prove that the observation error and the consensus control error converge to zero in a fixed-time. Finally, the effectiveness of the designed FTSO and fixed-time robust sliding mode fault-tolerant control algorithm is verified by numerical simulation.