Control
M. Siavash; V. Majd; M. Tahmasebi
Articles in Press, Corrected Proof, Available Online from 01 November 2019
Abstract
This article discusses a finite-time fault-tolerant consensus control for stochastic Euler-Lagrange multi-agent systems. First, the finite-time consensus controller of Euler-Lagrange multi-agent systems with stochastic disturbances is presented. Then, the proposed controller is extended as a fault-tolerant ...
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This article discusses a finite-time fault-tolerant consensus control for stochastic Euler-Lagrange multi-agent systems. First, the finite-time consensus controller of Euler-Lagrange multi-agent systems with stochastic disturbances is presented. Then, the proposed controller is extended as a fault-tolerant controller in the presence of faults in the actuators. In these two cases, the sliding-mode distributed consensus controllers are designed. The results guarantee that by using these controllers, the consensus tracking errors converge to a desired area near the origin in finite-time with the mean-square sense and also remain bounded in probability. In the simulation section, a robotic manipulator model with actuator faults and stochastic disturbances is discussed and the suggested consensus controller has been used for this case study.
