Distributed Control for Uncertain Nonlinear Multiagent Systems Subject to Hybrid Faults

• Published in: International journal of control, automation, and systems Vol. 18; no. 10; pp. 2589 - 2598
• Main Authors: Hua, Changchun, Li, Zhijie, Li, Kuo, Chen, Shuzong, Sun, Jie
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.10.2020; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Actuators; Control; Control stability; Control systems; Control Theory and Applications; Engineering; Faults; Hybrid systems; Mechatronics; Multiagent systems; Nonlinear control; Nonlinear systems; Robotics; 제어계측공학; Consensus control; hybrid faults; unmodeled dynamics; multi-agent systems
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-019-0363-3

This paper investigates a distributed consensus control problem for a class of uncertain nonlinear multiagent systems with hybrid faults. Most of the existing works about consensus control for multi-agent systems solely consider either actuator faults or process faults. Different from the works, the more comprehensive hybrid faults are proposed which mainly focusing on both process and actuator faults occur simultaneously. For the nonlinear multiagent systems with uncertainties, we propose a less conservative consensus strategy which relax the conservative condition on nonlinear terms. Subsequently, the novel distributed consensus strategy is proposed with the help of backstepping design method. Based on the Lyapunov stability theory, it is proved strictly that the proposed controllers make the followers reach an agreement on certain quantity of common interest. Finally, a simulation example is given to verify the effectiveness of the theoretical result.