Fault Tolerant Consensus of Multi Agent Systems Under Actuator Faults

Abstract

This paper is concerned with the control of Lipschitz continuous multi-agent systems in the presence of actuator faults. The faults in a multi-agent system can potentially affect the mission and lead to instability. A linear matrix inequality based method is proposed to account for the faults so that a stable consensus can be maintained even when the agents are subject to hybrid faults and nonlinearities. Two illustrative examples are provided to show the design and feasibility of the proposed method.INDEX TERMS Observer, linear matrix inequality, hybrid actuator fault, Lipschitz nonlinear, multi agent system.

Sensor Fault Tolerant Control for Hybrid Systems With Sinusoidal Disturbance

“…It can be seen from the inequality (35), there exist a nonlinear term which can not be solved using the matlab toolbox, so using the previous lemma and…”

“…Above all, the hybrid dynamical systems may be affected by various faults occurring in actuators or sensors. In fact,when a fault occurs, the characteristics of the entire system can cause changes, degrading its performances and even enduring instability [4], [5], [6]. Therefore, fault diagnosis (FD) and faulttolerant control (FTC) are more and more recommended as they strengthen system safety and maintain desirable performances [7], [8] , [9], [10].…”

“…Therefore, an important challenges is the sensitivity of switched hybrid systems to periodic disturbances. In [35], [36], the FTC problem of hybrid systems subject to faults was studied. However, the effect of an unknown disturbances is not addressed.…”

Fault-tolerant control and sinusoidal disturbance attenuation for a class of hybrid dynamic systems

“…It has been a studies subject matter to split MF from AF due to the fact each MF and AF concurrently affect the residual, that may alternate the average and the covariance. 4 Indeed, while a fault occurs, the traits of the whole system can reason changes, degrading its performances or even enduring instability, 5,6 So fault-diagnosis (FD) and fault-tolerant control (FTC) are increasingly endorsed as they give a boost to device protection and preserve ideal performances, [7][8][9] In survey papers, two kinds of FTC are mentioned, 10,11 passive (PFTC) and active (AFTC) methods. The former are primarily based totally on a control design that considers the fault incidence as a system perturbation.…”

“…33,34 So, an important challenges is the sensitivity of the hybrid systems to periodic disturbances. In Ramachandran and Juang, 5 and Farias et al, 35 the problem of FTC of hybrid systems subject to faults was studied. However, the effect of the disturbances is not addressed.…”