Robust Adaptive Fault-Tolerant Control of Multiagent Systems With Uncertain Nonidentical Dynamics and Undetectable Actuation Failures
Robust Adaptive Fault-Tolerant Control of Multiagent Systems With Uncertain Nonidentical Dynamics and Undetectable Actuation Failures
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DOI：
10.1109/tie.2015.2399400
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发表时间：
2015-02
影响因子：
7.7
通讯作者：
Yujuan Wang;Yongduan Song;F. Lewis
中科院分区：
文献类型：
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作者：
Yujuan Wang;Yongduan Song;F. Lewis
研究了存在非一致未知非线性动态和不可检测驱动故障的多智能体系统(MASS)分布式一致性问题。特别令人感兴趣的是开发一种健壮的自适应容错共识协议，该协议能够同时补偿不确定的动态/扰动和时变但不可预测的驱动故障。通过在巧妙选择的Lyapunov函数中引入虚拟参数估计误差，采用一种基于局部(相邻)主体状态信息的鲁棒自适应容错控制方案来解决一致性问题。结果表明，该方法具有用户友好的特点，在控制设计和实现过程中不需要智能体的详细动态信息，也不需要昂贵的执行故障检测/诊断，从而为多智能体的无领导共识问题提供了一种结构简单、计算量小的解决方案。仿真结果说明和验证了该方案的优点和有效性。
This paper studies the distributed consensus problem of multiagent systems (MASs) in the presence of nonidentical unknown nonlinear dynamics and undetectable actuation failures. Of particular interest is the development of a robust adaptive fault-tolerant consensus protocol capable of compensating uncertain dynamics/disturbances and time-varying yet unpredictable actuation failures simultaneously. By introducing the virtual parameter estimation error into the artfully chosen Lyapunov function, the consensus problem is solved with a robust adaptive fault-tolerant control scheme based upon local (neighboring) agent state information. It is shown that the proposed method is user friendly in that there is no need for detail dynamic information of the agent or costly detection/diagnosis of the actuation faults in control design and implementation, resulting in a structurally simple and computationally inexpensive solution for the leaderless consensus problem of MAS. Simulation results illustrate and verify the benefits and effectiveness of the proposed scheme.