Fault-tolerant consensus of nonlinear agents considering switching topology in the presence of communication noise

Abstract

In this paper, the consensus of nonlinear multi-agent systems (MASs) is discussed, considering actuator fault and switching topology in the presence of communication noise. The actuator fault and communication noise are both considered to be random. The switching of the topologies is considered random as well. These issues are handled by Distributed Nonlinear Dynamic Inversion (DNDI), which is designed for Multi-Agent Systems (MASs) operation. The convergence proof with actuator fault is provided, which shows the robustness of the controller. The simulation results show that DNDI successfully dealt with the actuator fault and communication events simultaneously.

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

“…The control action is generated by consensus protocols designed using control theory. Researchers have proposed a variety of consensus protocols to solve different categories of consensus problems considering linear and nonlinear agents, like communication issues (switching topology [ 6 , 7 , 8 ], delays [ 9 , 10 , 11 ], noise [ 12 , 13 , 14 ]), disturbance [ 15 , 16 ], and fault [ 17 , 18 ].…”

“…Mondal et al [ 14 ] proposed a distributed consensus protocol based on NDI and named it Distributed NDI or DNDI. It has been implemented to solve consensus problems with actuator fault [ 18 ], external disturbances [ 16 ], and bipartite consensus [ 52 ]. In this paper, we have proposed a variety of DNDI that exploits the tracking capability of NDI and successfully solves a leader–following consensus tracking problem, which is different from leaderless consensus in terms of concept and formulation.…”