Consensus Control of Linear Multiagent Systems Under Actuator Imperfection: When Saturation Meets Fault

被引：42

作者：

Gao, Chen ^{[1
]}

Wang, Zidong ^{[2
]}

He, Xiao ^{[1
]}

Han, Qing-Long ^{[3
]}

机构：

[1] Tsinghua Univ, Dept Automat, BNRist, Beijing 100084, Peoples R China

[2] Brunel Univ London, Dept Comp Sci, Uxbridge UB8 3PH, Middx, England

[3] Swinburne Univ Technol, Sch Software & Elect Engn, Melbourne, Vic 3122, Australia

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS | 2022年 / 52卷 / 04期

基金：

中国国家自然科学基金;

关键词：

Actuators; Consensus control; Fault tolerant systems; Fault tolerance; Topology; Optimization; Multi-agent systems; Actuator saturation; adaptive control; fault-tolerant control; leader-follower consensus; leaderless consensus; multiagent system (MASs); LEADER-FOLLOWING CONSENSUS; INPUT SATURATION; DYNAMIC-SYSTEMS; SUBJECT; NETWORKS; DESIGN; STABILIZATION; SPACECRAFT;

D O I：

10.1109/TSMC.2021.3050370

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 article is concerned with the consensus control problem for a general class of linear multiagent systems (MASs) subject to actuator imperfection consisting of both actuator saturations and actuator faults. A novel two-step saturation-resistant approach is proposed to attenuate the side effects resulting from the actuator imperfection. In the first step of controller design, the state information received from the neighboring agents is used to design a consensus controller capable of tolerating the actuator fault. Then, in the second step of controller optimization, the domain of attraction (DOA) is introduced for MASs to evaluate the performance of the controller and, subsequently, optimize the controller parameters to enlarge the DOA in terms of solutions to a certain set of matrix inequalities. Finally, simulation examples are provided to demonstrate the effectiveness of the developed saturation-resistant approach.

引用

页码：2651 / 2663

页数：13

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