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Distributed adaptive fault‐tolerant leader‐following formation control of nonlinear uncertain second‐order multi‐agent systems
Author(s) -
Khalili Mohsen,
Zhang Xiaodong,
Cao Yongcan,
Polycarpou Marios M.,
Parisini Thomas
Publication year - 2018
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4232
Subject(s) - control theory (sociology) , fault tolerance , fault detection and isolation , nonlinear system , controller (irrigation) , actuator , fault (geology) , convergence (economics) , computer science , lyapunov function , multi agent system , process (computing) , lyapunov stability , control reconfiguration , control engineering , control (management) , engineering , distributed computing , artificial intelligence , embedded system , physics , quantum mechanics , seismology , economic growth , economics , agronomy , biology , geology , operating system
Summary This paper presents a distributed integrated fault diagnosis and accommodation scheme for leader‐following formation control of a class of nonlinear uncertain second‐order multi‐agent systems. The fault model under consideration includes both process and actuator faults, which may evolve abruptly or incipiently. The time‐varying leader communicates with a small subset of follower agents, and each follower agent communicates to its directly connected neighbors through a bidirectional network with possibly asymmetric weights. A local fault diagnosis and accommodation component are designed for each agent in the distributed system, which consists of a fault detection and isolation module and a reconfigurable controller module comprised of a baseline controller and two adaptive fault‐tolerant controllers, activated after fault detection and after fault isolation, respectively. By using appropriately the designed Lyapunov functions, the closed‐loop stability and asymptotic convergence properties of the leader‐follower formation are rigorously established under different modes of the fault‐tolerant control system.