NDLI: Cooperative adaptive fault-tolerant tracking control for a class of multi-agent systems with actuator failures and mismatched parameter uncertainties

Content Provider	IET Digital Library
Author	Wang, Xin Yang, Guang Hong
Abstract	This study addresses the cooperative fault-tolerant tracking control problem for a class of multi-agent systems subject to mismatched parameter uncertainties, external disturbances and actuator faults including loss of effectiveness, outage and stuck. The communication network is undirected connected graph with a fixed topology. It is assumed that the actuator efficiency factors, the upper bounds of the unparametrisable time-varying stuck faults and disturbance, are unknown. Different from the traditional centralised fault-tolerant tracking control problem, only part of the follower nodes can obtain the information of leader directly. On the basis of the local state information of neighbouring agents, a novel cooperative fault-tolerant tracking control scheme by using adaptive mechanism is proposed. By introducing the estimates of controller parameters driven by neighbourhood tracking errors, it is shown that not only the actuator faults in the follower nodes can be compensated, but also the global tracking objective can be achieved. Furthermore, it is proved that all closed-loop signals are bounded and all follower nodes asymptotically tracking to the leader can be achieved in the presence of actuator faults, external disturbances and mismatched parameter uncertainties. Finally, a numerical example is given to show the effectiveness of the proposed control scheme.
Starting Page	1274
Ending Page	1284
Page Count	11
ISSN	17518644
Volume Number	9
e-ISSN	17518652
Issue Number	Issue 8, May (2015)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/9/8
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2014.0700
Journal	IET Control Theory & Applications
Publisher Date	2015-04-15
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Actuating And Final Control Device Actuator Failure Actuators Adaptive Control Artificial Intelligence Closed Loop System Closed-loop Signal Combinatorial Mathematics Cooperative Adaptive Fault-tolerant Tracking Control Problem External Disturbances Fault Tolerant Control Fixed Topology Global Tracking Objective Graph Theory Local State Information Mismatched Parameter Uncertainties Multi-agent System Neighbourhood Tracking Error Self Adjusting Control System Time Varying Control System Time Varying System Undirected Connected Graph Unparametrisable Time-varying Stuck Fault
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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