This brief paper presents a distributed adaptive fault-tolerant leader-following consensus control scheme for a class of nonlinear uncertain multi-agent systems under a bidirectional communication topology with possibly asymmetric weights and subject to process and actuator faults. A local fault-tolerant control (FTC) component is designed for each agent using local measurements and suitable information exchanged between neighboring agents. Each local FTC component consists of a fault diagnosis 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 an appropriately chosen Lyapunov function, the closed-loop stability and asymptotic convergence property of leader– follower consensus are rigorously established under different operating modes of the FTC system.

Distributed Adaptive Fault-Tolerant Control of Uncertain Multi-Agent Systems

T. Parisini
;
2018-01-01

Abstract

This brief paper presents a distributed adaptive fault-tolerant leader-following consensus control scheme for a class of nonlinear uncertain multi-agent systems under a bidirectional communication topology with possibly asymmetric weights and subject to process and actuator faults. A local fault-tolerant control (FTC) component is designed for each agent using local measurements and suitable information exchanged between neighboring agents. Each local FTC component consists of a fault diagnosis 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 an appropriately chosen Lyapunov function, the closed-loop stability and asymptotic convergence property of leader– follower consensus are rigorously established under different operating modes of the FTC system.
2018
Pubblicato
https://www.sciencedirect.com/science/article/pii/S0005109817304715
File in questo prodotto:
File Dimensione Formato  
Khalili_Zhang_Polycarpou_Parisini_Cao_Automatica_2018.pdf

Accesso chiuso

Descrizione: Articolo pubblicato
Tipologia: Documento in Versione Editoriale
Licenza: Copyright Editore
Dimensione 1.28 MB
Formato Adobe PDF
1.28 MB Adobe PDF   Visualizza/Apri   Richiedi una copia
Khalili_Zhang_Polycarpou_Parisini_Cao_Automatica__Accepted_Version_23_08_2017.pdf

Open Access dal 08/11/2019

Descrizione: Articolo accettato
Tipologia: Bozza finale post-referaggio (post-print)
Licenza: Copyright Editore
Dimensione 789.22 kB
Formato Adobe PDF
789.22 kB Adobe PDF Visualizza/Apri
Pubblicazioni consigliate

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11368/2917199
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 111
  • ???jsp.display-item.citation.isi??? 100
social impact