Consensus Control of Multi-Agent Systems Using Fault-Estimation-in-the-Loop: Dynamic Event-Triggered Case

• Published in: IEEE/CAA journal of automatica sinica Vol. 9; no. 8; pp. 1440 - 1451
• Main Authors: Ju, Yamei, Ding, Derui, He, Xiao, Han, Qing-Long, Wei, Guoliang
• Format: Journal Article
• Language: English
• Published: Piscataway Chinese Association of Automation (CAA) 01.08.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE); School of Science,Computing and Engineering Technologies,Swinburne University of Technology,Melbourne,VIC 3122,Australia%Department of Automation,BNRist,Tsinghua University,Beijing 100084,China%School of Science,Computing and Engineering Technologies,Swinburne University of Technology,Melbourne,VIC 3122,Australia%College of Science,University of Shanghai for Science and Technology,Shanghai 200093,China; Shanghai Key Lab of Modern Optical System,the Department of Control Science and Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China%Department of Control Science and Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China
• Subjects: Consensus control; Control systems; Controllers; dynamic event-triggered protocol (DETP); fault compensation (FC); fault estimation; Linear matrix inequalities; Mathematical analysis; Mathematical models; Matrices; multi-agent systems (MASs); Multiagent systems; Protocols; Simulation; Stability analysis; Trajectory; Variance analysis; Consensus control; dynamic event-triggered protocol(DETP); multi-agent systems(MASs); fault compensation(FC); fault estimation
• ISSN: 2329-9266; 2329-9274
• DOI: 10.1109/JAS.2021.1004386

The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems (MASs) in the presence of faults. A dynamic event-triggered protocol (DETP) by adding an auxiliary variable is utilized to improve the utilization of communication resources. First, a novel estimator with a noise bias is put forward to estimate the existed fault and then a consensus controller with fault compensation (FC) is adopted to realize the demand of reliability and safety of addressed MASs. Subsequently, a novel consensus control framework with fault-estimation-in-the-loop is developed to achieve the predetermined consensus performance with the l_{2}-l_{\infty} constraint by employing the variance analysis and the Lyapunov stability approaches. Furthermore, the desired estimator and controller gains are obtained in light of the solution to an algebraic matrix equation and a linear matrix inequality in a recursive way, respectively. Finally, a simulation result is employed to verify the usefulness of the proposed design framework.