Adaptive Fault-Tolerant Consensus Protocols for Multiagent Systems With Directed Graphs

作者：Wang, Zhanshan^*; Wu, Yanming; Liu, Lei; Zhang, Huaguang

来源：IEEE Transactions on Cybernetics, 2020, 50(1): 25-35.

DOI：10.1109/TCYB.2018.2859421

• Adaptive control protocol
• fault-tolerant consensus
• multiagent systems (MASs)
• tracking consensus

This paper investigates the problem of adaptive fault-tolerant tracking control for the multiagent systems (MASs) under the time-varying actuator faults and bounded unknown control input of the leader. On the basis of the local state information of neighboring agents, an adaptive fault-tolerant control protocol, which consists of the adaptive estimation of faults, is constructed to compensate for the loss of actuator effectiveness in the leader-follower consensus of MASs. Moreover, the modification term in the adaptive estimation can avoid high-frequency oscillations. It is shown that the tracking errors converge to a neighborhood around the origin in the presence of actuator faults, and the performance of the tracking problem is improved. Furthermore, the protocol is distributed in the sense that the coupling gains are independent. Finally, two examples are given to show the effectiveness of the proposed control protocol.

• 出版日期2020-1
• 单位东北大学; 流程工业综合自动化国家重点实验室; 辽宁工业大学