Distributed adaptive fault-tolerant control of uncertain multi-agent systems

• Published in: Automatica (Oxford) Vol. 87; pp. 142 - 151
• Main Authors: Khalili, Mohsen, Zhang, Xiaodong, Polycarpou, Marios M., Parisini, Thomas, Cao, Yongcan
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.01.2018
• Subjects: Adaptive control; Fault-tolerant control; Multi-agent systems; Nonlinear uncertain systems; Nonlinear uncertain systems; Fault-tolerant control; Adaptive control; Multi-agent systems
• ISSN: 0005-1098; 1873-2836
• DOI: 10.1016/j.automatica.2017.09.002

This brief paper presents a distributed adaptive fault-tolerant leader-following consensus control scheme for a class of nonlinear uncertain multi-agent systems under a bidirectional communication topology with possibly asymmetric weights and subject to process and actuator faults. A local fault-tolerant control (FTC) component is designed for each agent using local measurements and suitable information exchanged between neighboring agents. Each local FTC component consists of a fault diagnosis module and a reconfigurable controller module comprised of a baseline controller and two adaptive fault-tolerant controllers activated after fault detection and after fault isolation, respectively. By using an appropriately chosen Lyapunov function, the closed-loop stability and asymptotic convergence property of leader–follower consensus are rigorously established under different operating modes of the FTC system.