Affiliation of Author(s):自动化学院
Journal:INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
Key Words:Active fault-tolerant control consensus fault estimation observer multi-agent systems
Abstract:This paper is concerned with the fault-tolerant consensus control problem for leader-following multi-agent systems with actuator faults and external disturbance. Firstly, by employing the relative output estimation errors with respect to the corresponding neighbours and the leader, a distributed fault estimation observer is constructed for each follower and the established global estimation error system is proven to be asymptotically stable. Secondly, based on the obtained fault estimation, the active fault-tolerant consensus control protocol for each follower is proposed with the utilization of the relative output measurements rather than the state of the systems. Under this control protocol, the actuator faults can be compensated and the influence of disturbance can be eliminated as well. Moreover, it is worth noticing that the process of designing the fault estimation observer and the fault-tolerant controller is separated and their performances are considered simultaneously to simplify the design procedures. Finally, an illustrative example is presented to demonstrate the applicability and the effectiveness of the obtained results.
ISSN No.:1598-6446
Translation or Not:no
Date of Publication:2018-10-01
Co-author:Ma, Ben,Dong, Yan,Young,Liu jianwei
Correspondence Author:yp
Date of Publication:2018-10-01