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<p>A fixed-time adaptive control algorithm is introduced to tackle the consensus problem for second-order multi-agent systems with disturbance and actuator faults, this algorithm is founded on non-singular terminal sliding mode. Firstly, a fixed-time state observer is employed to observer states of leader. Then, a non-singular terminal sliding mode adaptive controller is developed to bolster system robustness and improve tracking accuracy. The fixed-time convergence of the proposed method is rigorously demonstrated using Lyapunov theory. Finally, simulation results are presented to confirm the efficacy of the proposed consensus control protocol.</p>

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Fixed-Time Consensus Algorithm for Second-Order Multi-agent Systems With Actuator Faults Based on Non-singular Terminal Sliding Mode

  • 期刊论文

  • 发表日期：

    2025年4月9日

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  • Shan Wang,
  • Xisheng Zhan,
  • Jie Wu,
  • Bo Wu,
  • Lingli Cheng

摘要

A fixed-time adaptive control algorithm is introduced to tackle the consensus problem for second-order multi-agent systems with disturbance and actuator faults, this algorithm is founded on non-singular terminal sliding mode. Firstly, a fixed-time state observer is employed to observer states of leader. Then, a non-singular terminal sliding mode adaptive controller is developed to bolster system robustness and improve tracking accuracy. The fixed-time convergence of the proposed method is rigorously demonstrated using Lyapunov theory. Finally, simulation results are presented to confirm the efficacy of the proposed consensus control protocol.