Distributed adaptive fault-tolerant control approach to cooperative output regulation for linear multi-agent systems

Deng, Chao; Yang, Guang‐Hong

doi:10.1016/j.automatica.2019.01.013

Cited by 279 publications

(59 citation statements)

References 25 publications

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“…Combining (25), (26), (28) and 29, one has lim t→∞ x ϑ(t) (t) − x(t) = 0, which completes the proof.…”

Section: Proofmentioning

confidence: 60%

“…In many practical applications, to cover all the possible fault situations/scenarios, the fault is usually modeled through multiple modes (called multiple mode fault for brevity). Such modeling is common in FDI literature [18][19][20] and fault-tolerant control literature [21][22][23][24][25][26]. Unfortunately, to the best of our knowledge, there is no result available on the asymptotic observer design problem for systems with such faults.…”

Section: Introductionmentioning

confidence: 99%

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Asymptotic state estimation for linear systems with sensor and actuator faults

Xie

Yang

Wang

et al. 2019

Sci. China Inf. Sci.

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This paper investigates the asymptotic state estimation problem for linear systems with sensor and actuator faults, where the faults are modeled via multiple modes. For the case of sensor faults, we first introduce a new notion of detectability, i.e., detectability of system against sensor faults. The notion helps to address the question of whether it is possible to asymptotically estimate the system state by using the control input and system output, irrespective of which mode the system is in and what values the fault signals are. A necessary and sufficient condition for the system to be detectable against sensor faults is given, and then two switched observers are proposed for asymptotic state estimation with the help of maximin strategy. For the system with ℓ fault modes, we provide the explicit form of the switched observer, which is based on a bank of ℓ(ℓ+1) 2 Luenberger-like or sliding-mode observers. Furthermore, extensions to the case of sensor and actuator faults are further studied. Finally, a simulation example of a reduced-order aircraft system is provided to show the effectiveness of the proposed approaches.

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“…Combining (25), (26), (28) and 29, one has lim t→∞ x ϑ(t) (t) − x(t) = 0, which completes the proof.…”

Section: Proofmentioning

confidence: 60%

Section: Introductionmentioning

confidence: 99%

Asymptotic state estimation for linear systems with sensor and actuator faults

Xie

Yang

Wang

et al. 2019

Sci. China Inf. Sci.

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show abstract

“…Using the Barbalat Lemma [70], [71], we can obtain lim t→∞ W (t) = 0, i.e., lim t→∞ e 1i (t) = 0, lim t→∞ e 2i (t) = 0, lim t→∞˜ i (t) = 0 which indicates that the proposed control scheme can ensure the hexacopter UAV the asymptotical convergence of the system outputs to the designated flight trajectory, even when the parameter uncertainties and external disturbances occur. This completes the proof.…”

Section: Stability Analysis Of Robust and Adaptive Backstepping Comentioning

confidence: 99%

Robust and Adaptive Backstepping Control for Hexacopter UAVs

Zhang

Deng

et al. 2019

IEEE Access

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A nonlinear robust and adaptive backstepping control strategy is hierarchically proposed to solve the trajectory tracking problem of hexacopter UAVs. Due to the under-actuated and coupled properties of the hexacopter dynamics, the nominal backstepping control approach is fully designed as the main controller. Considering the model uncertainties and external disturbances perturbing the system stability, a robust 2 nd-order linear extended state observer (LESO) with more reliable velocity feedback is devised to observe and suppress the instabilities, and peaking phenomena in the observation are removed. Usually, large observer gains are selected to reduce the tracking errors but will amplify the measurement noise. To further enhance the system robustness, an adaptive switching function based compensator is introduced to eliminate the observation errors, through which the requirement on large observer gains is relaxed, and high gain behaviors of the LESO are avoided. Stability analysis proves that the nonlinear control scheme can ensure the hexacopter UAV asymptotic tracking along the designated trajectory. Comparative simulations under different controllers are carried out to demonstrate the efficiency and superiority of the proposed control scheme. INDEX TERMS Hexacopter UAV, trajectory tracking, robust backstepping control, 2 nd-order LESO, hierarchical compensators.

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“…In particular, adaptive control method has been proved as a promising and successful control technology for nonlinear systems. [1][2][3][4][5] Among them, the literature 1 considered adaptive reliable guaranteed performance control for nonlinear systems with actuator failure compensation. An adaptive feedback linearization design was proposed for unmodeled dynamics nonlinear systems in Reference 3.…”

Section: Introductionmentioning

confidence: 99%

Adaptive exact sliding tracking control of high‐order strict‐feedback systems with mismatched nonlinearities and external disturbances

Dong

2020

Intl J Robust & Nonlinear

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This paper investigates the issue of fuzzy-approximation-based adaptive exact tracking control for a class of uncertain nonlinear systems with mismatched external disturbances. Due to the existence of unstructured nonlinear functions and unexpected disturbances, most of the current reported results on adaptive control of high-order nonlinear strict-feedback systems are semi-globally bounded. In this paper, a novel backstepping-based adaptive sliding control scheme is proposed, which makes the tracking error converge to zero in spite of the presence of uncertain nonlinearities and disturbances. In particular, under the framework of adaptive control mechanism, the upper bounds of fuzzy approximation errors and external disturbances are properly estimated. Based on the estimation information, an asymptotic adaptive tracking control strategy is constructed, such that the tracking error will be forced to keep sliding along the origin once the bounds are reached. Therefore, the exact tracking control objective is achieved. Simulation example verifies the effectiveness of the proposed scheme.

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Distributed adaptive fault-tolerant control approach to cooperative output regulation for linear multi-agent systems

Cited by 279 publications

References 25 publications

Asymptotic state estimation for linear systems with sensor and actuator faults

Asymptotic state estimation for linear systems with sensor and actuator faults

Robust and Adaptive Backstepping Control for Hexacopter UAVs

Adaptive exact sliding tracking control of high‐order strict‐feedback systems with mismatched nonlinearities and external disturbances

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