IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS—II: EXPRESS BRIEFS, VOL. 70, NO.
7, JULY 2023
Fault-Tolerant Consensus Control for Discrete-Time
Multi-Agent Systems: A Distributed Adaptive
Sliding-Mode Scheme
Xinchen Guo , Guoliang Wei , and Derui Ding , Senior Member, IEEE
Abstract—In this brief, a fully distributed sliding mode con-
troller with fault compensation is designed to deal with the con-
sensus problem of discrete-time first-order multi-agent systems
with actuator faults. A novel fully distributed integral sliding
surface (ISS) without global information is proposed to guaran-
tee consensus when agents move on the sliding surface. Based
on such a sliding manifold combined with identified faults, a
fully distributed sliding mode fault-tolerant controller is con-
structed, while a sufficient condition is derived to guarantee the
finite-time reachability of the distributed ISS. Finally, simulation
results verify the effectiveness of the proposed control algorithm.
Index Terms—Discrete-time multi-agent systems, integral slid-
ing surface, fault-tolerant control, reachability, consensus, fully
distributed.
I. I NTRODUCTION
VER the past decades, distributed cooperative control
O for multi-agent systems (MASs) has received ever-
increasing research attention due to their wide applications
in distributed optimization, automatic guided vehicles as well
as smart grids [1], [2], [3]. Moreover, in contrast to the tradi-
tional centralized way, the distributed control strategy of MASs
only requires information interaction among local agents to
realize the global control performance (see [4], [5], [6], [7]).
Especially, among the many cooperative control behaviors,
consensus control is the most fundamental issue and always
occupies the leader status of the current research.
Actuator faults due mainly to improper operation or com-
ponent deterioration often occur and inevitably destroy the
excellent performance of addressed MASs. To overcome such
a negative impact, some fault-tolerant control (FTC) meth-
ods have been developed by a fault compensation or a
robust controller, and plenty of interesting results have been
Manuscript received 20 November 2022; revised 3 January 2023; accepted
4 February 2023. Date of publication 7 February 2023; date of current ver-
sion 30 June 2023. This work was supported in part by the National Natural
Science Foundation of China under Grant 61873169 and Grant 62273239. This
brief was recommended by Associate Editor C. Hua. (Corresponding author:
Guoliang Wei.)
Xinchen Guo and Derui Ding are with the Department of Control
Science and Engineering, University of Shanghai for Science and Technology,
Shanghai 200093, China.
Guoliang Wei is with the Business School, University of Shanghai for
Science and Technology, Shanghai 200093, China (e-mail: guoliang.wei@
usst.edu.cn).
Color versions of one or more figures in this article are available at
https://doi.org/10.1109/TCSII.2023.3243221.
Digital Object Identifier 10.1109/TCSII.2023.3243221
1549-7747 
c 2023 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See https://www.ieee.org/publications/rights/index.html for more information.
Authorized licensed use limited to: Harbin Engineering Univ Library. Downloaded on April 08,2024 at 09:35:14 UTC from IEEE Xplore. Restrictions apply.
2515
reported, see [8], [9], [10], [11] for examples. For instance,
an adaptive FTC scheme has been developed in [8] to real-
ize the fixed-time output time-varying formation, where the
effect of actuator faults has been reduced with the help
of time-varying gains. Furthermore, a bipartite fault-tolerant
containment control algorithm has been proposed in [9] for
MASs with cooperative and competitive agents. In addition,
in order to identify faults more effectively, some fault esti-
mators have been designed in [12], [13], [14]. For instance,
the human-in-the-loop consensus problem and the formation
FTC problem with nonlinear dynamics have been, respectively,
studied in [12] and [13], where neural networks and fuzzy
logic rules have been introduced to approximate unknown
nonlinearities.
It should be pointed out that sliding mode control (SMC) has
prominent advantages to parameter perturbations and hence
can be utilized to handle actuator faults. When MAS is a
concern, some preliminary results have been developed for
discrete-time cases [15], [16], [17]. For instance, consensus
issues have been discussed in [16] for ones with an undi-
rected switching graph by using two different reaching laws.
More recently, the dynamic and static event-triggered SMC
have been, respectively, considered in [18] and [19], where
the designed controllers can guarantee the reachability of the
quasi-sliding mode region. Noteworthy, the control strategies
proposed in the above papers are centralized, and hence cause
a series of problems, such as low efficiency, low fault toler-
ance, and excessive costs. Therefore, how to design a fully
distributed SMC algorithm is an open yet interesting problem,
which stimulates the research of our paper.
Motivated by the above discussion, the purpose of this brief
is to design a fully distributed sliding-mode fault-tolerant con-
troller (FD-SM-FTC) to realize consensus of discrete-time
MASs subject to actuator faults. The main challenges are high-
lighted as follows: 1) how to design an effective sliding surface
by resorting to an adaptive parameter dependent on consensus
errors, and 2) how to construct an FD-SM-FTC to force MASs
reaching consensus. This brief answers these two challenges
and the main contributions are as follows: 1) a novel fully
distributed ISS without global information is constructed such
that consensus is guaranteed when agents move on the sliding
surface; 2) an FD-SM-FTC is designed by resorting to both the
sliding manifold and the fault compensation; and 3) a sufficient
condition is derived to guarantee the finite-time reachability of
local ISS while selecting suitable controller gains.
2516 IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS—II: EXPRESS BRIEFS, VOL. 70, NO. 7, JULY 2023
Notations: AT and A−1 represent the transpose and inverse
of a real-valued matrix A, respectively. diag{x1 , x2 , . . . , xN }
is a diagonal matrix, where the diagonal elements are
x1 , x2 , . . . , xN . x denotes the Euclidean norm of the real vec-
tor x, and |x| is the absolute value of the scalar x. ⊗ stands for
the Kronecker product, sign(·) indicates the symbolic function,
and [ · ] is the Ceiling function.
II. P RELIMINARIES AND P ROBLEM F ORMULATION
The topology of addressed MASs consisting of N agents is
described by an undirected connected graph G = {V, E, A}
with the vertex set V = {1, 2, . . . , N}, the edge set E ⊆ V × V
as well as the adjacency matrix A = (aij )N×N . Ni = {j ∈
V : (j, i) ∈ E} stands for the set of all neighbors of agent i, from
which agent i can receive the information. Furthermore, aij >
0 if (j, i) ∈ E and aij = 0 otherwise, and the Laplacian matrix
L is definedas L = M − A, where M = diag{m1 , m2 , . . . , mN }
with mi = N j=1 aij for i = 1, 2, . . . , N.
Lemma 1 [20]: There exists an orthogonal matrix 
whose first column is √1 1N , such that  T L =  =
N
diag{0, λ2 , . . . , λN }, where λN ≥ λN−1 ≥ · · · ≥ λ2 > 0 are
eigenvalues of L.
Consider MASs with the following discrete-time dynamics
xi (k + 1) = xi (k) + T(ui (k) + fi (k)), i ∈ V
where xi (k) ∈ Rn denotes the state of agent i, ui (k) ∈ Rn
means the control input, and fi (k) ∈ Rn is the actuator fault.
T > 0 is the sampling time interval. Furthermore, the actuator
fault satisfies the following assumption.
Assumption 1: The fault fi (k) is a bounded variation, i.e.,
fi (k) = fi (k + 1) − fi (k) ≤ μi , where μi is a positive
constant.
In order to relieve the effect of actuator faults, a fault
identifier is constructed to estimate fi (k) for the ith agent
 which results in an equivalent SMC law
f̂i (k) = T1 (ξi (k) + xi (k))
(2)
ξi (k + 1) = −Tui (k) − xi (k)
where f̂i (k) is the estimate of fi (k). Introducing the error f̃i (k) =
fi (k) − f̂i (k), one has from (2) that
f̃i (k + 1) = fi (k + 1) − f̂i (k + 1)
xi (k + 1) − xi (k) − Tui (k)
= fi (k + 1) −
T x(k + 1) = x(k) − (α(k)χ −1 (k)L ⊗ In )x(k)
= fi (k).
In what follows, let us introduce an auxiliary variable

N
xir (k) = aij (xi (k) − xj (k)), i ∈ V
j=1
and then construct a fully distributed ISS
 obtain that
si (k) = xi (k) + ri (k)
ri (k + 1) = ri (k) + αi (k)xir (k)/χi (k)
where χi (k) = 1+αi2 (k)+xir
T (k)x (k), and αi (k) is an adaptive
ir
parameter designed as
αi (k + 1) = αi (k) + xir
T
(k)xir (k)/χi (k).
Authorized licensed use limited to: Harbin Engineering Univ Library. Downloaded on April 08,2024 at 09:35:14 UTC from IEEE Xplore. Restrictions apply.
In this brief, we focus on the design of an FD-SM-FTC for
the addressed MAS (1) subject to actuator faults based on both
the above integral sliding surface (4) and the fault identifier (2).
Specifically, our purpose is to design an FD-SM-FTC such that
1) the designed ISS is reachable;
2) the addressed MASs (1) subject to actuator faults can
achieve consensus, that is, limk→∞ (xi (k) − xj (k)) = 0,
for i, j ∈ V.
Remark 1: In contrast to the sliding surface proposed
in [19], whose gain is obtained with the help of the eigen-
values of the Laplacian matrix, the ISS (4) constructed in this
brief avoids the intervention of global information by intro-
ducing an adaptive parameter αi (k), which means the ISS is
fully distributed, and thus preserves essential scalability.
III. M AIN R ESULTS
In this section, an FD-SM-FTC is designed by utilizing the
equivalent sliding mode control idea, and then the finite-time
reachability of ISS and the consensus of addressed MASs are
discussed via the Lyapunov stability theory. First of all, the
following lemma is accessible for the identified faults.
Lemma 2: Consider the fault identifier (2) for the ith agent.
Under Assumption 1, the identification error dynamics (3) is
bounded.
(1) Proof: Introduce the Lyapunov function Vi (k) = f̃iT (k)f̃i (k).
By calculation, one has
Vi (k) ≤ −f̃iT (k)f̃i (k) + μ2i = −Vi (k) + μ2i .
Then, Vi (k + 1) ≤ μ2i√. Therefore, f̃i (k) ≤ μ̄i always holds,
where μ̄i = max{μi , Vi (0)}, which completes the proof.
In the framework of SMC, when the trajectories of system
states enter the sliding surface, one has
si (k) = T(ui (k) + fi (k)) + αi (k)xir (k)/χi (k) = 0 (6)
ueqi = −T −1 αi (k)xir (k)/χi (k) − fi (k). (7)
In what follows, substituting (7) to (1) leads to the following
sliding mode dynamics
xi (k + 1) = xi (k) − αi (k)xir (k)/χi (k) (8)
which can be rewritten as a compact form
(9)
(3)
where
α(k) = diag{α1 (k), α2 (k), . . . , αN (k)},
χ (k) = diag{χ1 (k), χ2 (k), . . . , χN (k)}.
N
x (k)
Defining x̄(k) = i=1N i , the consensus error can be writ-
ten as x̃i (k) = xi (k) − x̄(k). Furthermore, it is not difficult to
(4)
x̃(k + 1) = (H ⊗ In )x(k + 1)
= (H ⊗ In )x(k) − (Hα(k)χ −1 (k)L ⊗ In )x(k)
= x̃(k) − (Hα(k)χ −1 (k)L ⊗ In )x̃(k) (10)
1N 1TN
(5) where H = IN − N satisfying LH = HL = L.
GUO et al.: FAULT-TOLERANT CONSENSUS CONTROL FOR DISCRETE-TIME MASs 2517

The following theorem is derived for analyzing the consen- In addition, we know that αi (k) is bounded by V(k) ≤ 0.
sus of MASs on the sliding surface. Therefore, limk→∞ xir (k) = 0 (equivalently limk→∞ (L ⊗
Theorem 1: For the constructed ISS (4) whose adaptive In )x(k) = 0) obviously holds. Moreover, one has
parameter αi (k) satisfies (5), the consensus of MASs (1) sub-
lim xT (k)(L ⊗ In )x(k) = lim x̃T (k)(L ⊗ In )x̃(k) = 0. (15)
ject to actuator faults can be achieved on such a sliding k→∞ k→∞
surface. Based on Lemma 1, defining x̃(k) = ( ⊗ In )x̌(k), the above
Proof: First of all, introduce the Lyapunov function as equation is equivalent to
V(k) = V1 (k) + V2 (k) lim x̌T (k)( T L ⊗ In )x̌(k) = lim x̌T (k)( ⊗ In )x̌(k)
k→∞ k→∞

where V1 (k) = x̃T (k)(L ⊗ In )x̃(k), V2 (k) = N
i=1 (αi (k) − α) ,
2

N
and α > 0 will be determined later. = lim λi x̌iT (k)x̌i (k) = 0 (16)
k→∞
Calculating V1 (k) along the trajectory (10) yields i=2
which implies x̌i (k) = 0, (i = 2, . . . , N) as k → ∞. By the
V1 (k) = x̃T (k + 1)(L ⊗ In )x̃(k + 1) − x̃T (k)(L ⊗ In )x̃(k)
definition of x̌(k), it is not difficult to find that x̃1 (k) = x̃2 (k) =
= −2x̃T (k)(LT α(k)χ −1 (k)L ⊗ In )x̃(k) · · · = x̃N (k), which implies that limk→∞ (xi (k) − xj (k)) = 0,
+ x̃T (k)(LT χ −1 (k)α(k)Lα(k)χ −1 (k)L ⊗ In )x̃(k) for i, j ∈ V. The proof is completed.
N 
 xT (k)xir (k) xT (k)xir (k)  We are now in the position to develop a controller to ensure
≤ λN αi2 (k) ir 2 − 2αi (k) ir that the constructed ISS can be restricted to a bounded neigh-
χi (k) χi (k) borhood of the origin, that is, the ISS is reachable. By doing
i=1

N
xT (k)xir (k) so, we propose the following FD-SM-FTC
≤− (2αi (k) − λN ) ir (11) 1
χi (k) ui (k) = − ρ1 si (k) + ρ2 sign(si (k))
i=1
T 
α 2 (k)
where the fact 0 < χii (k) < 1 is utilized to obtain the last + αi (k)xir (k)/χi (k) − f̂i (k) (17)
inequality. Similarly, calculating V2 (k) easily acquires where ρ1 and ρ2 are the controller gains to be designed.
Based on the above preparation, the following theorem is

N 
N
V2 (k) = (αi (k + 1) − α)2 − (αi (k) − α)2 derived to illustrate the reachability of the sliding surface.
i=1 i=1 Theorem 2: If the parameters in FD-SM-FTC (17) satisfy

N 0 < ρ1 < 1 and ρ2 > max{ (2−ρρ11)T μ̄i , (1−(ρ 1 −ε))T μ̄i
1+ρ1 −ε } with pos-
= (αi (k + 1) + αi (k) − 2α)(αi (k + 1) − αi (k)) itive constants ε < ρ1 and μ̄i given in Lemma 2, then the
i=1 distributed ISS si (k) can be restricted to a bounded neighbor-
N 
 T (k)x (k)  xT (k)x (k) hood of the origin within a finite time, that is, |si(v) (k)| < i
xir ir ir
= 2αi (k) − 2α + ir
. (12) for k ≥ [ln |si(v) (0)|
i
/ln(1 − ε)], where si(v) (k) represents the vth
χi (k) χi (k) component of si (k), and i = ρ2 +T μ̄i . Moreover, the trajecto-
i=1
T (k)x (k)
xir
ries of MASs (1) with FD-SM-FTC (17) can pass through the
Because of 0 < ir
χi (k) < 1, one has sliding surface at every step in the quasi-sliding mode region
¯ i = {si(v) | |si(v) | < i } and achieve the desired consensus.

N
xT (k)xir (k) Proof: Substituting the controller (17) into (6) yields
V2 (k) ≤ (2αi (k) − 2α + 1) ir . (13)
χi (k)
i=1 si (k + 1) = (1 − ρ1 )si (k) − ρ2 sign(si (k)) + T f̃i (k). (18)
Combining (11) and (13), the difference of V(k) can be When si(v) (k) > i , one has si(v) (k + 1) + i = si(v) (k + 1) +
divided into ρ2 +T μ̄i > (1−ρ1 )(ρ2 +T μ̄i ) > 0, which means si(v) (k+1) >

N
xT (k)xir (k) − i , and
V(k) ≤ − (2α − λN − 1) ir
χi (k) si(v) (k + 1) − (1 − ε)si(v) (k) = (ε − ρ1 )si(v) (k) − ρ2 + T f̃i(v) (k)
i=1
< −(ρ1 − ε)(ρ2 + T μ̄i ) − ρ2 + T μ̄i
N T (k)x (k)
xir ir
= −ā (14) = T μ̄i (1 − (ρ1 − ε)) − ρ2 (1 + ρ1 − ε) < 0.
χi (k)
i=1
Therefore, one has si(v) (k + 1) < (1 − ε)si(v) (k), and further
λN +1 calculates si(v) (k) < (1 − ε)k si(v) (0), which means |si(v) (k)| <
where ā = 2α − λN − 1 > 0, which means α > 2 . Based
i when k > ln si(v) (0) /ln(1 − ε).
i
on (14), it is not difficult to find that
On the other hand, when 0 < si(v) (k) < i , we also have

k 
N
xT (ι)xir (ι)
ir
≤ ā−1 V(0) si(v) (k + 1) > − i and
χi (ι)
ι=0 i=1 si(v) (k + 1) = (1 − ρ1 )si(v) (k) − ρ2 + T f̃i(v) (k)
for k ∈ [0, ∞), which implies < (1 − ρ1 )(ρ2 + T μ̄i ) − ρ2 + T μ̄i
T (k)x (k)
xir ir
T (k)x (k)
xir ir
= T μ̄i (2 − ρ1 ) − ρ1 ρ2 < 0.
lim = lim = 0.
k→∞ χi (k) k→∞ 1 + α (k) + xT (k)xir (k)
2
i ir
Similarly, when si(v) (k) < 0, the conclusion is also true.

Authorized licensed use limited to: Harbin Engineering Univ Library. Downloaded on April 08,2024 at 09:35:14 UTC from IEEE Xplore. Restrictions apply.
2518 IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS—II: EXPRESS BRIEFS, VOL. 70, NO. 7, JULY 2023

Fig. 1. Communication topology of six agents.

Fig. 2. Identified errors of faults, and fault f11 and its estimation.
In summary, si(v) (k) can be restricted to a bounded neigh-
borhood i of the origin within a finite time, where the
i
settling time is [ln |si(v) (0)| /ln(1 − ε)]. Moreover, the trajecto-
ries of MASs in the quasi-sliding mode region ¯ i can pass
through the sliding surface at every step. Further, when the
trajectories of system states enter the sliding surface, based
on Theorem 1, MASs (1) with FD-SM-FTC (17) can achieve
consensus, which completes the proof.
Remark 2: Thus far, we have provided an FD-SM-FTC to
solve the consensus problem for discrete-time MASs with
actuator faults. In comparison with the numerous literature Fig. 3. Trajectories of six agents.
on SMC of discrete-time MASs, the main results of this
brief stand out for the following two distinguishing merits:
1) the proposed FD-SM-FTC is fully distributed by intro-
ducing an adaptive parameter αi (k); and 2) the developed
control algorithm can guarantee the finite-time reachability of
the quasi-sliding mode region by selecting suitable controller
gains. In the following section, a numerical example is given
to verify the effectiveness of the proposed control algorithm.

IV. S IMULATIONS
This section will verify the effectiveness of the developed
FD-SM-FTC (17) for addressed MASs. To this end, we
employ an MAS with six agents (labeled as 1, 2, 3, 4, 5, 6),
whose communication topology is shown in Fig. 1, where the
weights are all 1 (i.e., aij = 1). Furthermore, the sam-
pling time interval is set as T = 1, and the
Fig. 4. Sliding mode surfaces si1 (k).
utilized faults are f1 (k) = (0.1 sin(0.04k + 0.2) +
0.1 cos(0.05k + 2) + 0.01k, 0.1 sin(0.04k + 0.4) + 0.01k)T ,
f2 (k) = (sin(0.01k + 0.2) + 0.1 cos(0.03k + 3) +
shown in Figs. 3–5, respectively. We can clearly find through
0.01k, 0.1 sin(0.02k +0.4)+0.01k)T , f3 (k) = (0.1 sin(0.05k +
these figures that the sliding surface si(v) can be reached in a
0.5) + 0.01k, 0.1 sin(0.04k + 1) + 0.01k)T , f4 (k) =
finite number of steps, and the states of six agents can achieve
(0.1 sin(0.02k + 0.2) + 0.01k, 0.1 sin(0.01k + 0.4) + 0.01k)T ,
consensus. In addition, the trajectories of adaptive parame-
f5 (k) = (0.1 sin(0.02k + 0.2) + 0.5 cos(0.03k + 3) +
ters αi (k) are presented in Fig. 6. Consequently, the consensus
0.01k, 0.1 sin(0.02k +0.4)+0.01k)T , f6 (k) = (0.1 sin(0.02k +
problem of MASs subject to actuator faults can be solved by
2) + 0.1 cos(0.09k + 3) + 0.01k, 0.1 sin(0.02k + 4) + 0.01k)T .
the developed FD-SM-FTC strategy.
It is not difficult to verify that the parameter μ̄i is 0.02
in Lemma 2. According to Theorem 2, the gains of FD-SM-
FTC (17) are chosen as ρ1 = 0.99, ρ2 = 0.021 and ε = 0.01. V. C ONCLUSION
Then, we can get i = 0.041. The fault-tolerant consensus control problem for discrete-
Without loss of generality, only the first component of the time MASs has been investigated under an undirected topology
fault is considered here. The corresponding results are shown in this brief. In order to relieve the effect of actuator faults, a
in Fig. 2, where Fig. 2(a) presents the identified errors of local fault identifier has been constructed to estimate the actu-
faults, and Fig. 2(b) shows both the true trajectory and the esti- ator fault for each agent. Then, a novel fully distributed ISS
mated one of f11 (k). Obviously, the proposed fault identifier (2) has been proposed without any global information. Based on
can effectively estimate the actuator fault. Furthermore, the tra- the estimator and ISS, an FD-SM-FTC has been developed to
jectories of the six agents and the sliding surface functions are ensure the finite-time reachability of the quasi-sliding mode

Authorized licensed use limited to: Harbin Engineering Univ Library. Downloaded on April 08,2024 at 09:35:14 UTC from IEEE Xplore. Restrictions apply.
GUO et al.: FAULT-TOLERANT CONSENSUS CONTROL FOR DISCRETE-TIME MASs
Fig. 5. Sliding mode surfaces si2 (k).
Fig. 6. Trajectories of adaptive parameters.
region. Moreover, in the quasi-sliding mode region, the trajec-
tories of the system states can pass through the sliding surface
at every step. Finally, simulation results verified the effective-
ness of the proposed control algorithm. In the future, the fully
distributed SMC problem of nonlinear MASs under directed
topology will be considered.
R EFERENCES
[1] X. Ge, Q.-L. Han, L. Ding, Y.-L. Wang, and X.-M. Zhang, “Dynamic
event-triggered distributed coordination control and its applications: A
survey of trends and techniques,” IEEE Trans. Syst., Man, Cybern., Syst.,
vol. 50, no. 9, pp. 3112–3125, Sep. 2020.
[2] W. An, P. Zhao, H. Liu, and J. Hu, “Distributed multi-step subgra-
dient projection algorithm with adaptive event-triggering protocols: A
framework of multiagent systems,” Int. J. Syst. Sci., vol. 53, no. 13,
pp. 2758–2772, 2022.
Authorized licensed use limited to: Harbin Engineering Univ Library. Downloaded on April 08,2024 at 09:35:14 UTC from IEEE Xplore. Restrictions apply.
2519
[3] X. Guo, G. Wei, M. Yao, and P. Zhang, “Consensus control for multiple
Euler-Lagrange systems based on high-order disturbance observer: An
event-triggered approach,” IEEE/CAA J. Automatica Sinica, vol. 9, no. 5,
pp. 945–948, May 2022.
[4] Z.-H. Pang, C.-B. Zheng, C. Li, G.-P. Liu, and Q.-L. Han, “Cloud-
based time-varying formation predictive control of multi-agent systems
with random communication constraints and quantized signals,” IEEE
Trans. Circuits Syst. II, Exp. Briefs, vol. 69, no. 3, pp. 1282–1286,
Mar. 2022.
[5] C. Gao, X. He, H. Dong, H. Liu, and G. Lyu, “A survey on fault-tolerant
consensus control of multi-agent systems: Trends, methodologies and
prospects,” Int. J. Syst. Sci., vol. 53, no. 13, pp. 2800–2813, 2022.
[6] W. Zou, K. Qian, and Z. Xiang, “Fixed-time consensus for a class of
heterogeneous nonlinear multiagent systems,” IEEE Trans. Circuits Syst.
II, Exp. Briefs, vol. 67, no. 7, pp. 1279–1283, Jul. 2020.
[7] X. Wang, Y. Sun, and D. Ding, “Adaptive dynamic programming for net-
worked control systems under communication constraints: A survey of
trends and techniques,” Int. J. Netw. Dyn. Intell., vol. 1, no. 1, pp. 85–98,
2022.
[8] W. Cheng, K. Zhang, and B. Jiang, “Distributed adaptive fixed-time
fault-tolerant formation control for heterogeneous multiagent systems
with a leader of unknown input,” IEEE Trans. Cybern., early access,
Oct. 18, 2022. [Online]. Available: https://doi.org/10.1109/TCYB.2022.
3211560
[9] M. Sader, W. Li, H. Jiang, Z. Chen, and Z. Liu, “Semi-global bipartite
fault-tolerant containment control for heterogeneous multiagent systems
with antagonistic communication networks and input saturation,” IEEE
Trans. Neural Netw. Learn. Syst., early access, Sep. 29, 2022. [Online].
Available: https://doi.org/10.1109/TNNLS.2022.3208449
[10] X. Wang, Y. Zhou, T. Huang, and P. Chakrabarti, “Event-triggered adap-
tive fault-tolerant control for a class of nonlinear multiagent systems with
sensor and actuator faults,” IEEE Trans. Circuits Syst. I, Reg. Papers,
vol. 69, no. 10, pp. 4203–4214, Oct. 2022.
[11] D. Ji, C. Wang, J. Li, and H. Dong, “A review: Data driven-based fault
diagnosis and RUL prediction of petroleum machinery and equipment,”
Syst. Sci. Control Eng., vol. 9, no. 1, pp. 724–747, Jan. 2021.
[12] G. Lin, H. Li, H. Ma, D. Yao, and R. Lu, “Human-in-the-loop con-
sensus control for nonlinear multi-agent systems with actuator faults,”
IEEE/CAA J. Automatica Sinica, vol. 9, no. 1, pp. 111–122, Jan. 2022.
[13] C. Deng and W.-W. Che, “Fault-tolerant fuzzy formation control for
a class of nonlinear multiagent systems under directed and switch-
ing topology,” IEEE Trans. Syst., Man, Cybern., Syst., vol. 51, no. 9,
pp. 5456–5465, Sep. 2021.
[14] J. Hu, H. Zhang, H. Liu, and X. Yu, “A survey on sliding mode con-
trol for networked control systems,” Int. J. Syst. Sci., vol. 52, no. 6,
pp. 1129–1147, 2021.
[15] J. Song, Z. Wang, and Y. Niu, “On H∞ sliding mode control
under stochastic communication protocol,” IEEE Trans. Autom. Control,
vol. 64, no. 5, pp. 2174–2181, May 2019.
[16] K. Patel and A. Mehta, “Discrete-time sliding mode protocols for leader-
following consensus of discrete multi-agent system with switching graph
topology,” Eur. J. Control, vol. 51, pp. 65–75, Jan. 2020.
[17] J. Song, Z. Wang, Y. Niu, and H. Dong, “Genetic-algorithm-assisted
sliding-mode control for networked state-saturated systems over hid-
den Markov fading channels,” IEEE Trans. Cybern., vol. 51, no. 7,
pp. 3664–3675, Jul. 2021.
[18] R. Nie, W. He, W. Du, Z. Liang, and S. He, “Dynamic event-triggered
SMC of multi-agent systems for consensus tracking,” IEEE Trans.
Circuits Syst. II, Exp. Briefs, vol. 69, no. 3, pp. 1188–1192, Mar. 2022.
[19] Y. Sun, P. Shi, and C.-C. Lim, “Event-triggered sliding mode scaled
consensus control for multi-agent systems,” J. Franklin Inst., vol. 359,
no. 2, pp. 981–998, Jan. 2022.
[20] W. He, B. Xu, Q.-L. Han, and F. Qian, “Adaptive consensus control
of linear multiagent systems with dynamic event-triggered strategies,”
IEEE Trans. Cybern., vol. 50, no. 7, pp. 2996–3008, Jul. 2020.