Journal
IEEE TRANSACTIONS ON CYBERNETICS
Volume 50, Issue 1, Pages 25-35Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2018.2859421
Keywords
Adaptive control protocol; fault-tolerant consensus; multiagent systems (MASs); tracking consensus
Categories
Funding
- National Natural Science Foundation of China [61473070, 61433004, 61627809]
- SAPI Fundamental Research Funds [2018ZCX22]
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This paper investigates the problem of adaptive fault-tolerant tracking control for the multiagent systems (MASs) under the time-varying actuator faults and bounded unknown control input of the leader. On the basis of the local state information of neighboring agents, an adaptive fault-tolerant control protocol, which consists of the adaptive estimation of faults, is constructed to compensate for the loss of actuator effectiveness in the leader-follower consensus of MASs. Moreover, the modification term in the adaptive estimation can avoid high-frequency oscillations. It is shown that the tracking errors converge to a neighborhood around the origin in the presence of actuator faults, and the performance of the tracking problem is improved. Furthermore, the protocol is distributed in the sense that the coupling gains are independent. Finally, two examples are given to show the effectiveness of the proposed control protocol.
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