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

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.

Sliding mode fault-tolerant consensus control for heterogeneous multi-agent systems based on finite-time observer and controller

“…Lemma 1 (Yang et al, 2019). If the undirected graph G ¯ is connected, the matrix L + B is a reversible matrix.…”

“…In terms of FTC, sliding mode control (SMC) has a good phase with fault-tolerant control because of its strong robustness. Yang et al (2019) applied SMC to active fault-tolerant control of MAS, so that the system can achieve the desired performance index when flying in formation. Ren et al (2021) used both integral sliding mode and super-twisting sliding mode in the design of fault-tolerant controller to solve the fault-tolerant tracking problem of MAS.…”

Reinforced unscented Kalman filter for consensus achievement of uncertain multi‐agent systems subject to actuator faults

“…In Reference 7, a distributed Kalman filtering (KF) approach is presented to estimate the actuator faults in formation flying satellites where an overlapping block‐diagonal state space representation technique is applied. Another work reported the fault tolerant control (FTC) method with adaptive observers for MAS with actuator fault 8 . Again, linear, and nonlinear observers are widely applied to reconstruct faults 9,10 .…”

“…Another work reported the fault tolerant control (FTC) method with adaptive observers for MAS with actuator fault. 8 Again, linear, and nonlinear observers are widely applied to reconstruct faults. 9,10 In Reference 9 an important actuator fault reconstruction mechanism is proposed; it does not depend on control law, actuator model, fault time and their time profile.…”

Event-triggered finite-time consensus for stochastic multi-agent systems

“…Meanwhile, the consensus problem of MASs has become a hot topic. It has attracted an increasing interest (Fan and Wang, 2019; Hou et al, 2009; Olfati-Saber et al, 2004; Yang et al, 2019). In order to achieve consensus, each agent in the systems needs to design its controller according to the limited signals sent by adjacent agents.…”