Robust adaptive fault-tolerant consensus tracking control for one-link manipulator multi-agent systems
LIU Keli
SUN Zongyao
LI Jiaojiao
ZHAO Junsheng
Abstract：This paper investigates the robust adaptive fault-tolerant consensus tracking control problem for a class of multi-agent systems composed of three one-link manipulators.By using the backstepping method of adaptive techniques,a state feedback controller is designed to ensure that,despite unknown bounded disturbances and actuator input faults,each one-link manipulator's angular velocity can asymptotically track the leader signal in consensus,even when only partial followers have information about the leader.The novelty of this work lies in simultaneously considering disturbances and faults in one-link manipulator systems and applying multi-agent system control strategies to manipulator systems.Finally,the effective-ness of the control strategy is verified through simulations.
Keywords：manipulatorsmulti-agentrobust adaptiveactuator faultsconsensus tracking
Publication Date：2025-12-31
Online Publishing Date：2026-08-28(First online date of this platform, not the publication date of the document)
Pages：8( 823-830 )