Distributed robust fault‐tolerant consensus tracking control for multi‐agent systems with exogenous disturbances under switching topologies

Abstract

In this article, the H ∞ consensus tracking problem for multi-agent systems (MASs) under switching communication topologies is studied. In the objective system, the unknown nonlinear function, exogenous disturbances, and actuator faults are considered. For this problem, a new fully distributed fault-tolerant control method is developed via utilizing adaptive mechanisms. A sufficient condition is obtained to guarantee the stability of the considered closed-loop system by topology-based average dwell time technique combined with Lyapunov stability theory. Unlike the traditional method to estimate the weight matrix, the neural network is used to estimate the norm of weight vectors. Thus, the difficulty that the unknown nonlinear function cannot be compensated when outage or stuck faults occur in some actuators is solved. Compared with the existing controllers for nonlinear MASs, the proposed controller does not require any knowledge about the terms relevant to the global information associated with the network. Furthermore, the proposed controller can compensate for the leader's unknown bounded input and actuator faults. Besides, the closed-loop system is proven to be stable by the developed controller, and all followers can track the state of the leader. Finally, a numerical simulation is given to validate the effectiveness of the proposed protocol.

Distributed extended state observer‐based fault‐tolerant control for nonlinear multi‐agent systems with switching topologies

“…In general, when (38) is established, we can get (31) through Schur complement lemma. Therefore, if (31) holds, the dynamic global error system (10) proposed in this paper is uniformly ultimately bounded.…”

“…Moreover, few studies of MASs consider incipient faults under switched communication topology. Based on the finite‐frequency technique, a robust fault estimation observer is proposed for linear MASs subject to incipient faults, 38 and simulation results show the effectiveness of the proposed method. However, it is worth noting that this method is only for MAS with fixed communication topology.…”

Adaptive fixed‐time dynamic surface fault‐tolerant control of nonlinear systems with sensor faults

“…We begin with the first subsystem of ( 12) by considering 𝛼 1 as virtual control variable. According to ( 13), (14), and ( 16), the time derivative of s 1 is…”

“…Peculiarly, such a response will be expected to be achieved in the presence of uncertainties, external disturbances and faults in many practical systems. It is worth mentioning that advanced control theories and methods, such as backstepping approach, 4,5 adaptive control, [6][7][8] fuzzy logic control, [9][10][11][12] fault-tolerant control 13,14 and so on, have become the powerful tools to solve these problems.…”

Consensus Tracking of Nonlinear Agents Using Distributed Nonlinear Dynamic Inversion with Switching Leader-Follower Connection

“…It can be mentioned that there exist a small number of papers that discussed consensus tracking considering both the switching topology and actuator fault. Sader et al [ 39 ] presented the consensus tracking problem of agents’ nonlinear function, exogenous disturbances, and actuator faults. They considered the switching communication topologies in their study.…”