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<p>This paper deals with the sliding mode consensus controller for a class of nonlinear multi-agent systems with preserved connectivity. The fault approximator is deliberated for MAS with guaranteed convergence to the real fault for decreasing the control input value compared to the other approach. This approach proposes a new class of sliding surface in designing a controller procedure to satisfy both the connectivity preservation and the overall stability. It is assumed that some state variables are measured directly, while others are estimated using a nonlinear observer because using sensors for measuring all state variables is both costly and complicated. The merging of the observation and consensus errors to zero is guaranteed. The robustness against external disturbances and actuator faults is ensured in this approach. The simulation results validate the effectiveness of the planned controller, nonlinear observer, and fault estimation.</p>

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Connectivity preserved fractional sliding mode consensus procedure for nonlinear multi-agent systems in the presence of sensors faults and external disturbances: fault estimation approach

  • 期刊论文

  • 发表日期：

    2026年8月3日

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  • Hamide Rahimi Zare,
  • Reza Ghasemi

摘要

This paper deals with the sliding mode consensus controller for a class of nonlinear multi-agent systems with preserved connectivity. The fault approximator is deliberated for MAS with guaranteed convergence to the real fault for decreasing the control input value compared to the other approach. This approach proposes a new class of sliding surface in designing a controller procedure to satisfy both the connectivity preservation and the overall stability. It is assumed that some state variables are measured directly, while others are estimated using a nonlinear observer because using sensors for measuring all state variables is both costly and complicated. The merging of the observation and consensus errors to zero is guaranteed. The robustness against external disturbances and actuator faults is ensured in this approach. The simulation results validate the effectiveness of the planned controller, nonlinear observer, and fault estimation.