Cooperative adaptive fault-tolerant tracking control for a class of multi-agent systems with actuator failures and mismatched parameter uncertainties

• Published in: IET control theory & applications Vol. 9; no. 8; pp. 1274 - 1284
• Main Authors: Wang, Xin, Yang, Guang-Hong
• Format: Journal Article
• Language: English
• Published: The Institution of Engineering and Technology 15.05.2015
• Subjects: actuator failures; Actuators; adaptive control; closed loop systems; closed‐loop signals; cooperative adaptive fault‐tolerant tracking control problem; Disturbances; external disturbances; Fault tolerance; fault tolerant control; Faults; fixed topology; Followers; global tracking objective; graph theory; local state information; Mathematical models; mismatched parameter uncertainties; multi‐agent systems; neighbourhood tracking errors; time‐varying systems; Tracking control; Uncertainty; undirected connected graph; unparametrisable time‐varying stuck faults; time-varying systems; multi-agent systems; graph theory; adaptive control; neighbourhood tracking errors; closed-loop signals; local state information; mismatched parameter uncertainties; closed loop systems; undirected connected graph; global tracking objective; actuators; fixed topology; actuator failures; cooperative adaptive fault-tolerant tracking control problem; external disturbances; fault tolerant control; unparametrisable time-varying stuck faults
• ISSN: 1751-8644; 1751-8652
• DOI: 10.1049/iet-cta.2014.0700

This study addresses the cooperative fault-tolerant tracking control problem for a class of multi-agent systems subject to mismatched parameter uncertainties, external disturbances and actuator faults including loss of effectiveness, outage and stuck. The communication network is undirected connected graph with a fixed topology. It is assumed that the actuator efficiency factors, the upper bounds of the unparametrisable time-varying stuck faults and disturbance, are unknown. Different from the traditional centralised fault-tolerant tracking control problem, only part of the follower nodes can obtain the information of leader directly. On the basis of the local state information of neighbouring agents, a novel cooperative fault-tolerant tracking control scheme by using adaptive mechanism is proposed. By introducing the estimates of controller parameters driven by neighbourhood tracking errors, it is shown that not only the actuator faults in the follower nodes can be compensated, but also the global tracking objective can be achieved. Furthermore, it is proved that all closed-loop signals are bounded and all follower nodes asymptotically tracking to the leader can be achieved in the presence of actuator faults, external disturbances and mismatched parameter uncertainties. Finally, a numerical example is given to show the effectiveness of the proposed control scheme.