Distributed fault tolerant consensus control for multi-agent system with actuator fault based on adaptive observer

Author:

Yang Pu12,Xu Mengyang1ORCID,Li Dejie1,Liu Zhangxi1,Huang Yi1

Affiliation:

1. College of Automation Nanjing University of Aeronautics and Astronautics, P.R. China

2. State Key Laboratory of Reliability and Intelligence of Electrical Equipment, Hebei University of Technology, P.R. China

Abstract

This paper mainly investigates the consensus control problem of multi-agent system with actuator fault under the leader-follower topology structure. For actuator fault, the additive and multiplicative fault are also considered in this paper. It is worth noting here that for actuator fault we only consider follower agent. For other factors that can affect system functionality, the external bounded disturbance and nonlinear factor are considered for all agents. The main paper organization structure is as follows. Firstly, by constructing nonlinear adaptive fault observer, the estimated values of actuator multiplicative fault and the unknown upper bound of actuator additive fault are respectively obtained. Subsequently, based on the estimated value of fault observer, a distributed fault-tolerant consensus control protocol is proposed to solve the consensus implementation problem of multi-agent system in the case of actuator fault. Finally, the effectiveness of fault-tolerant consensus control algorithm is proved by a simulation example of multi-aircraft system.

Funder

State Key Laboratory of Reliability and Intelligence of Electrical Equipment

the Fundamental Research Funds for the Central Universities

Publisher

SAGE Publications

Subject

Instrumentation

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