Adaptive Sliding Mode Control for Multi-agent Time-varying Formation Tracking with Dynamic Actuator Faults

This paper investigates time-varying formation tracking problem for second-order multi-agent system with dynamic actuator faults, time-varying disturbances and noise. Based on sliding mode control method, a new distributed adaptive sliding mode controller is proposed. By Lyapunov stability theory, it can be verified that the multi-agent system with our designed controller can achieve the time-varying formation task and resist the negative influences caused by the adverse factors mentioned above effectively. Unlike some works which can only work for smooth disturbance, our proposed method is effective to any bounded noise and disturbance including unsmooth ones. Furthermore, a numerical example and several simulation results presented in this paper can also demonstrate the effectiveness of the proposed control method.