Integral Sliding Mode Fault-Tolerant Tracking Control for Second-Order Multi-Agent Systems Mixed Event-Triggered and Channel-Fading

This paper addresses the integrated challenge of consensus tracking for second-order nonlinear multi-agent systems (MAS) simultaneously subject to stochastic communication channel fading, actuator faults (both partial loss-of-effectiveness and bias types), and constrained network resources. To tackle this, a synergistic control scheme is proposed that co-designs a fading-resilient event-triggered communication mechanism with a chatter-free adaptive continuous integral sliding mode control (SMC) protocol. The event-triggering condition explicitly incorporates the statistical characteristics of channel fading, enabling efficient bandwidth usage under unreliable links. The proposed continuous SMC, equipped with an adaptive law, eliminates chattering entirely and operates without requiring prior knowledge of fault or disturbance bounds. It is rigorously proven that the tracking errors converge to a bounded region, and Zeno behavior is excluded, ensuring practical implement ability. Numerical simulations validate the effectiveness and superior performance of the proposed method compared to conventional discontinuous SMC and periodic sampling schemes.