Regular Papers

International Journal of Control, Automation, and Systems 2023; 21(9): 2821-2834

https://doi.org/10.1007/s12555-022-0682-7

© The International Journal of Control, Automation, and Systems

Observer Based Reliable Finite-time Consensus Under Actuator Faults for Uncertain Nonlinear Multi-agent Systems

Karthi Ramachandran* and Jyh-Ching Juang

National Cheng Kung University

Abstract

The consensus problem for nonlinear multi-agent systems communicating on a connected undirected topology is addressed in this paper. The system nonlinearity of each agent accepts the one-sided Lipschitz and the quadratic-inner bounded properties. Furthermore, actuators of the agents are subject to a loss in their efficiency and are also assumed to have nonlinearity at the input. In addition, the agents are influenced by parametric uncertainties both at the system and input level, also bounded external disturbances affect the system states. To attain a consensus under these constraints, an observer-based state feedback protocol is developed. Subsequently, a robust finite-time boundedness study is performed by constructing an appropriate Lyapunov function from a closed loop observererror dynamics. Following this, the controller and observer gains are designed from the resulting linear matrix inequalities. This guarantees a reliable consensus among the agents in a finite time against actuator faults and uncertainties. The protocol’s effectiveness is shown by a suitable example.

Keywords Cooperative control, leaderless consensus, multi-agent, nonlinear actuator fault, observer, one-sided Lipschitz, quadratic-inner bounded.

Article

Regular Papers

International Journal of Control, Automation, and Systems 2023; 21(9): 2821-2834

Published online September 1, 2023 https://doi.org/10.1007/s12555-022-0682-7

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

Observer Based Reliable Finite-time Consensus Under Actuator Faults for Uncertain Nonlinear Multi-agent Systems

Karthi Ramachandran* and Jyh-Ching Juang

National Cheng Kung University

Abstract

The consensus problem for nonlinear multi-agent systems communicating on a connected undirected topology is addressed in this paper. The system nonlinearity of each agent accepts the one-sided Lipschitz and the quadratic-inner bounded properties. Furthermore, actuators of the agents are subject to a loss in their efficiency and are also assumed to have nonlinearity at the input. In addition, the agents are influenced by parametric uncertainties both at the system and input level, also bounded external disturbances affect the system states. To attain a consensus under these constraints, an observer-based state feedback protocol is developed. Subsequently, a robust finite-time boundedness study is performed by constructing an appropriate Lyapunov function from a closed loop observererror dynamics. Following this, the controller and observer gains are designed from the resulting linear matrix inequalities. This guarantees a reliable consensus among the agents in a finite time against actuator faults and uncertainties. The protocol’s effectiveness is shown by a suitable example.

Keywords: Cooperative control, leaderless consensus, multi-agent, nonlinear actuator fault, observer, one-sided Lipschitz, quadratic-inner bounded.

IJCAS
February 2024

Vol. 22, No. 2, pp. 347~729

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