Impulsive fault-tolerant control for multi-agent systems with stochastic disturbances

This study dealt with the problem of fault-tolerant control in multi-agent systems impacted also by factor stochastic impulsive disturbances together with actuator and sensor malfunctions. It is known that impulsive events can cause the agents to become unsynchronized and controlled coordination using given fault-tolerant methods is difficult. To enhance the robustness and safety of fault models, this research presented an impulsive fault-tolerant control. This controller aims to eliminate the effect of actuator faults, sensor faults, and impulsive disturbances. We also provided an overview of the sliding mode control technique, which is necessary for managing nonlinear uncertainties in impulses and faults in actuators and sensors. To describe the characteristics of the sliding mode controller, the Lyapunov function was employed to analyze its stability. The stability effect demonstrated in our paper is asymptotic stability rather than semi-global uniform ultimate boundedness because the function derivative of the Lyapunov function and its included term ensures it is negative semi-definite except for the bounded switching control terms, confirming asymptotic convergence to zero. Numerical examples were included to demonstrate the effectiveness and benefits of the proposed approach.