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.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.