Observer-Based Fault-Tolerant Consensus Control for Nonlinear Multi-Agent Systems with Time-Delay

被引:0
作者
Chen, Jianliang [1 ]
Luo, Wanzhao [1 ]
Fu, Hao [1 ]
Liu, Xin [1 ]
机构
[1] Wuhan Univ Sci & Technol, Engn Res Ctr Met Automat & Measurement Technol, Minist Educ, Wuhan 430081, Peoples R China
来源
2022 34TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC | 2022年
关键词
Nonlinear Multi-Agent Systems; Fault Estimation Observer; Fault Tolerant Control; Time-Delay; Actuator Faults;
D O I
10.1109/CCDC55256.2022.10033543
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper is concerned with the fault estimation and fault-tolerant consensus control problem for Lipschitz nonlinear multi-agent systems (MASs) with time-delay affected by actuator faults and external disturbance. The communication topology of the MASs is assumed to be undirected. Firstly, by employing the output estimation errors of its own and its neighbors, the fault estimation observer is constructed to achieve the simultaneous estimation of MASs states and actuator faults. Secondly, based on the obtained estimation information, a dynamic output feedback fault-tolerant controller is designed to compensate the effect of faults. Thirdly, by using the linear matrix inequality technique to solve the nonconvexity problem, the robust performance conditions of the observer and the controller are obtained. Finally, a numerical example is provided to demonstrate the effectiveness of the proposed control protocol.
引用
收藏
页码:1855 / 1862
页数:8
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