Regular Papers

International Journal of Control, Automation and Systems 2019; 17(12): 3149-3157

Published online July 26, 2019

https://doi.org/10.1007/s12555-019-9216-3

© The International Journal of Control, Automation, and Systems

Distributed-observer-based Fault Tolerant Control Design for Nonlinear Multi-agent Systems

Jianye Gong, Bin Jiang, and Qikun Shen*

Yangzhou University

Abstract

The problem of distributed adaptive fault tolerant control is investigated for nonlinear multi-agent systems with sensor faults in this paper. By utilizing radial basis function neural networks to approximate the unknown continuous nonlinear functions, a distributed-observer-based adaptive neural networks scheme is proposed to estimate each node state, which is unmeasured in the system. Then, a kind of distributed adaptive controller is proposed for each follower based on the sliding mode design technique and fault tolerant control technique. Based on graph and Lyapunov stability theory, it is proved that the tracking errors converge to a small neighborhood of the origin with all signals in the closed-loop system being bounded. Finally, simulation results are given to demonstrate the effectiveness of the control scheme proposed in this paper.

Keywords Adaptive control, fault tolerant control, multiagent system

Article

Regular Papers

International Journal of Control, Automation and Systems 2019; 17(12): 3149-3157

Published online December 1, 2019 https://doi.org/10.1007/s12555-019-9216-3

Copyright © The International Journal of Control, Automation, and Systems.

Distributed-observer-based Fault Tolerant Control Design for Nonlinear Multi-agent Systems

Jianye Gong, Bin Jiang, and Qikun Shen*

Yangzhou University

Abstract

The problem of distributed adaptive fault tolerant control is investigated for nonlinear multi-agent systems with sensor faults in this paper. By utilizing radial basis function neural networks to approximate the unknown continuous nonlinear functions, a distributed-observer-based adaptive neural networks scheme is proposed to estimate each node state, which is unmeasured in the system. Then, a kind of distributed adaptive controller is proposed for each follower based on the sliding mode design technique and fault tolerant control technique. Based on graph and Lyapunov stability theory, it is proved that the tracking errors converge to a small neighborhood of the origin with all signals in the closed-loop system being bounded. Finally, simulation results are given to demonstrate the effectiveness of the control scheme proposed in this paper.

Keywords: Adaptive control, fault tolerant control, multiagent system

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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