Adaptive attack-free protocol for consensus tracking with pure relative output information

This article is concerned with the quantized fault-tolerant control (FTC) for consensus of multiple Lagrangian systems subject to stochastically switching networks, actuator and sensor faults. First of all, a reliable quantized FTC algorithm is developed under Markov jump networks (MJNs), where the communication signal is first quantized before transmitted to develop controllers, and the communication networks are stochastically switching with the sojourn time belonging to an exponential distribution. Then, to handle the FTC problem in the presence of unknown control directions, the Nussbaum function is introduced to further improve the control reliability. Furthermore, the FTC case involving semi-Markov jump networks (S-MJNs) and time-varying communication delays is considered, where the negative constraints of time delays can be effectively attenuated with the sojourn time following a Weibull distribution. Meanwhile, several sufficient criteria on the consensus analysis and algorithms synthesis are established by means of the Lyapunov-Krasovskii stability method. Finally, numerous illustrative examples are elaborated on for demonstrating the feasibility of the derived results. K E Y W O R D Sfault-tolerant control, Markov and semi-Markov process, quantization, time delays, unknown control directionsThis is an open access article under the terms of the Creative Commons Attribution-NonCommercial-NoDerivs License, which permits use and distribution in any medium, provided the original work is properly cited, the use is non-commercial and no modifications or adaptations are made.

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“…Proposition 1. For system (1) with matrix ℒ , Laplacian matrix (t), positive diagonal matrix Γx = diag(Γx i,k ) ∈ R np×np , and diagonal matrix…”

Section: Assumption 3 the Fault Factormentioning

confidence: 99%

“…Theorem 1. Based on MJNs, that is, the switching digraph (t) governed by the Markov process Λ t , if Assumptions 1-3 hold, the asymptotic consensus of systems (1) proposed in Definition 1, that is, ||x i (∞) − x j (∞) || = 0, ||̇x i (∞)|| = 0, can be fulfilled via the quantized FTC algorithm structured in Table 1.…”

Section: End Formentioning

confidence: 99%

Quantized fault‐tolerant consensus for multiple Lagrangian systems subject to switching networks

Yao

Park

Ding

et al. 2021

Intl J Robust & Nonlinear

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“…As mentioned in [38]- [40], in typical situations, a single node of the MAS may lack absolute state observation and only be capable of measuring relative values against its neighboring nodes. Furthermore, according to [41], the transmission of absolute information requires communication channels, which may suffer from potential network attacks. In [42]- [44], it was assumed that each agent was equipped with sensors for relative output measurements.…”

Section: Introductionmentioning

confidence: 99%

Distributed Fault Detection for Linear Time-Varying Multi-Agent Systems With Relative Output Information

Zou

Wang

2021

IEEE Access

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This paper investigates the distributed fault detection problem for linear discrete time-varying heterogeneous multi-agent systems under relative output information. Due to the lack of absolute outputs, an augmented model is built by stacking all local relative output information. Then, the fault detection problem consisting of residual-generation and residual-evaluation is handled using the H ∞ filtering framework. The residual-generation problem is actually a minimization problem of an indefinite quadratic form, and the Krein space-Kalman filtering theory is applied, which results in a low computational burden despite the time-varying characteristic. Using the Krein space theory, a necessary and sufficient condition for the minimum is derived, and a residual-generation algorithm is developed. Further, a residual-evaluation mechanism is designed by constructing an evaluation function and detecting faults by comparing it with a threshold. Finally, two illustrative examples are given to demonstrate the effectiveness of the proposed fault detection approach.

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“…However, in those works, all consensus tracking controllers require an accurate knowledge of desired input. To solve the problem with unknown leader's control input, the sliding model control approach is used to design the distributed discontinuous control law which solves the consensus tracking in Reference 12, and the adaptive consensus tracking controller has been designed by proposing an intuitive and easily applied nonlinear function in References 13,14. By constructing multiple Lyapunov function, 15 the consensus tracking problem is perfectly solved with directed switching topologies and nonautonomous leader dynamics.…”

mentioning

confidence: 99%

“…The rotation matrix-based attitude tracking control law is first developed for rigid body's kinematics. Regarding the unknown desired angular velocity, we extend the idea of unknown input on Euclidean space 13,14 to design angular velocity input with only relative attitude measurement on rotation matrix SO (3). Compared with the existing attitude control laws which require the knowledge of desired angular velocity and its time derivative, the proposed angular velocity input only involves relative attitude measurements, which facilitate its applications in noncooperative scenarios.…”

mentioning

confidence: 99%

Robust noncooperative attitude tracking control for rigid bodies on rotation matrices subject to input saturation constraint

Peng

Sun

Zhang

2021

Intl J Robust & Nonlinear

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This paper addresses the noncooperative attitude tracking control problem for rigid bodies whose dynamics evolves on the rotation matrix SO(3). First, based on the relative attitude measurement, a saturated angular velocity input is designed by a proposed saturated nonlinear function. Thereafter, the attitude tracking control torque for rigid body's dynamics with input saturation constraint and active disturbance rejection is developed by a modified dynamic surface control approach which can avoid large torque in practice. Furthermore, by using only relative attitude measurements, two types of velocity-free attitude control laws are considered, respectively. In contrast to those control schemes that require that the desired angular velocity is available to the rigid body, the proposed scheme is able to solve the attitude control in noncooperative scenarios, where the desired angular velocity and acceleration are not accessible. Since the attitude described by rotation matrix SO(3) enables the controller to use local measurements in the body-fixed frame rather than global measurements in an inertial frame, the proposed robust noncooperative control schemes with input saturation constraint are easier to implement in practice. Finally, numerical simulations and SimMechanics experiments are provided to illustrate the effectiveness of the proposed theoretical results.

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Adaptive attack-free protocol for consensus tracking with pure relative output information

Cited by 75 publications

References 30 publications

Quantized fault‐tolerant consensus for multiple Lagrangian systems subject to switching networks

Quantized fault‐tolerant consensus for multiple Lagrangian systems subject to switching networks

Distributed Fault Detection for Linear Time-Varying Multi-Agent Systems With Relative Output Information

Robust noncooperative attitude tracking control for rigid bodies on rotation matrices subject to input saturation constraint

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