Based Fault-Tolerance Consensus of Second-Order Heterogeneous System under Input Saturation with Dynamics and Static Leader

We focus on fault-tolerant consensus for heterogeneous dynamics systems with static and dynamic leaders under input saturation in this article. We apply theory of finite-time stability to multiagent system cooperative control. Also, we use integral sliding mode to overcome disturbance. The primary goal is a set of second-order linear and second-order nonlinear agents moving along the leader's trajectory. We use topology graph to describe communication between multiple agents. By using integral sliding mode control way, corresponding controller is introduced to make system stable. Finally, correctness of experiment was confirmed by MATLAB numerical simulation.