Affiliation:
1. College of Electrical Engineering, Sichuan University, Chengdu 610065, China
Abstract
This study proposed a novel adaptive interval Type-II fuzzy fault-tolerant control for constrained uncertain 2-DOF robotic multi-agent systems with an active fault-detection algorithm. This control method can realize the predefined-accuracy stability of multi-agent systems under input saturation constraint, complex actuator failure and high-order uncertainties. Firstly, a novel active fault-detection algorithm based on pulse-wave function was proposed to detect the failure time of multi-agent systems. To the best of our knowledge, this was the first time that an active fault-detection strategy had been used in multi-agent systems. Then, a switching strategy based on active fault detection was presented to design the active fault-tolerant control algorithm of the multi-agent system. In the end, based on the interval type-II fuzzy approximated system, a novel adaptive fuzzy fault-tolerant controller was proposed for multi-agent systems to deal with system uncertainties and redundant control inputs. Compared with other relevant fault-detection and fault-tolerant control methods, the proposed method can achieve predefinition of stable accuracy with smoother control input. The theoretical result was verified by simulation.
Funder
Science and Technology Department of Sichuan Province
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
Reference68 articles.
1. An improved protocol to consensus of delayed MASs with UNMS and aperiodic DoS cyber-attacks;Wang;IEEE Trans. Netw. Sci. Eng.,2021
2. Distributed finite-time consensus tracking control for nonlinear multi-agent systems with FDI attacks and application to single-link robots;Jiang;IEEE Trans. Circuits Syst. II Express Briefs,2022
3. Dynamic output feedback control for nonlinear networked control systems with a two-terminal event-triggered mechanism;Zhang;Nonlinear Dyn.,2020
4. Multi-robot path planning based on improved artificial potential field and fuzzy inference system;Zhao;J. Intell. Fuzzy Syst.,2020
5. Chen, W.D., Li, Y.X., Liu, L., Zhao, X.D., Niu, B., and Han, L.M. (2022). Nussbaum-Based Adaptive Fault-Tolerant Control for Nonlinear CPSs With Deception Attacks: A New Coordinate Transformation Technology. IEEE Trans. Cybern.