Distributed Fault-Tolerant Consensus Tracking Control of Multi-Agent Systems Under Fixed and Switching Topologies

• Published in: IEEE transactions on circuits and systems. I, Regular papers Vol. 68; no. 4; pp. 1646 - 1658
• Main Authors: Liu, Chun, Jiang, Bin, Zhang, Ke, Patton, Ron J.
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.04.2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: abrupt and incipient actuator faults; Actuators; Algorithms; Circuit faults; Control algorithms; Control systems; Control theory; fault estimation; Fault tolerance; Fault tolerant systems; Fault-tolerant consensus tracking control; fixed and switching topologies; multi-agent systems; Multiagent systems; Protocols; Switches; Switching; Topology; Tracking control
• ISSN: 1549-8328; 1558-0806
• DOI: 10.1109/TCSI.2021.3049347

This paper proposes a novel distributed fault-tolerant consensus tracking control design for multi-agent systems with abrupt and incipient actuator faults under fixed and switching topologies. The fault and state information of each individual agent is estimated by merging unknown input observer in the decentralized fault estimation hierarchy. Then, two kinds of distributed fault-tolerant consensus tracking control schemes with average dwelling time technique are developed to guarantee the mean-square exponential consensus convergence of multi-agent systems, respectively, on the basis of the relative neighboring output information as well as the estimated information in fault estimation. Simulation results demonstrate the effectiveness of the proposed fault-tolerant consensus tracking control algorithm.