期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 61, 期 11, 页码 3240-3255出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2015.2507864
关键词
Consensus; cooperative control; fault tolerant control (FTC); multi-agent system; nonlinear systems
资金
- National Science of China [61273148, 61273155, 61420106016, 61473067, 61473068]
- Research Fund of State Key Laboratory of Synthetical Automation for Process Industries [2013ZCX01]
- Fundamental Research Funds for the Central Universities [N110804001, N130504005, N140402002]
This paper studies the active fault-tolerant control (FTC) problem for nonidentical high-order multi-agent systems, in the presence of actuator faults and network disconnections. The follower agents are enabled to track the output of a leader agent in faulty cases, by performing output feedback actuator fault compensations and distributed accommodations of network disconnections. In view of nonidentical nonlinearities, a high-gain observer like-protocol and a cooperative FTC controller are presented, with a synchronization condition to govern the global behavior in undirected/directed graphs. To distributively achieve the synchronization condition by updating local controller parameters, two broadcast mechanisms are presented on a spanning tree (for undirected graphs) and a cycle containing all nodes (for directed graphs). To ensure the tolerance to disconnections, the proposed broadcast mechanisms are redesigned by adding redundant information flows on spanning trees (for undirected graphs) and cycles containing all nodes (for directed graphs).
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