Fault-Tolerant Cooperative Tracking Control of Nonlinear Affine Systems Using Integral Sliding Mode Control

The cooperative tracking problem for a class of nonlinear affine systems are addressed. Actuator faults and external disturbance/model uncertainty are allowed such that we aim to design distributed controllers that can tolerate them while realize cooperative tracking. A general setup is considered, that is, actuator faults can take such forms as actuator degradation and total failure. Then, to guarantee the feasibility of fault-tolerant control, we assume that the actuator has sufficiently many healthy components which enables us to apply integral sliding mode control (ISMC) to develop the distributed controllers that can fulfill the control target and the external disturbance can simultaneously be successfully rejected. We also provide the simulation results to verify the validity of our theoretical findings.