Distributed Adaptive Fault-Tolerant Control for Leaderless/Leader–Follower Multi-Agent Systems against Actuator and Sensor Faults

Abstract

The faults of actuators and sensors can lead to abnormal operations or even system faults in multi-agent systems (MASs). To address this issue, this paper proposes an adaptive fault-tolerant control (FTC) algorithm for leaderless/leader–follower MASs against actuator and sensor faults. First, extended states integrating the fault components are constructed and the MAS is transformed into a descriptor system form. Then, a sliding-mode observer is designed for the transformed MAS. Based on the estimated MAS states and faults, adaptive FTC algorithms are developed, which update the control gains with the distributed tracking error. Finally, numerical simulations demonstrate that the proposed method can guarantee MAS stability against actuator and sensor faults.

Bipartite Formation Control of Nonlinear Multi-Agent Systems with Fixed and Switching Topologies under Aperiodic DoS Attacks

“…MASs offer numerous advantages compared to a single agent, including more efficient and complicated task execution, robustness in the event of agent failure, scalability, adaptability, and so on. As a result of the development of MASs, distributed cooperative control for MASs, including power sharing in sensor networks, the collaborative control mechanism of unmanned surface vehicles, and the formation control of satellites and so on, has attracted significant attention [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15], where the researchers design various control protocols to complete these intricate tasks.…”

Prescribed Time Fault-Tolerant Affine Formation Control for Multi-Agent Systems with Double-Integrator Dynamics

“…Therefore, it is very important to design fault-tolerant control algorithms. Motivated by this, many researchers consider the fault-tolerant control problem for multi-agent systems [26][27][28][29][30][31]. Fault-tolerant formation control of multi-agent systems with finite-time convergence or fixed-time convergence has also been considered in [32][33][34].…”