Research On Fault-tolerant Consensus Control For Multi-agent Systems With Actuator Faults

The consensus control problem of multi-agent systems has attracted great attentions because of the wide practical applications.Once the actuator faults occur in the operation of multi-agent systems,the control law can't be completely executed.This may lead to the failure of the whole task.Therefore,it is extreme important to investigate the fault-tolerant consensus control problem of the multi-agent systems.In this paper,multi-robot systems and multi-aircraft systems are used respectively as practical application objects.The problem of fault-tolerant consensus of leader-following multi-agent systems with actuator faults is investigated.Firstly,the background and significance of this subject are clarified and the research status of multi-agent systems consensus is summarized.The type and manifestation of faults existed in multi-agent systems are introduced.Then,the experimental simulation platforms of multi-agent systems are built.Moreover,the main components and functions of the platforms are introduced in detail,and the mathematical models of mobile robot and unmanned aerial vehicle are respectively established on the basis of the platforms.Secondly,the problem of fault-tolerant consensus of second-order non-linear multi-agent systems subject to actuator additive faults is investigated.Based on the sliding mode control method,a fault-tolerant consensus control method is presented.Then,a sliding mode surface based on consensus errors is proposed and the stability of the states on the sliding mode surface is proved.Furthermore,a fault-tolerant consensus protocol is proposed to compensate the actuator faults.On the basis of the sliding mode control theory,the proposed fault-tolerant consensus protocol ensures that the consensus of multi-agent systems can be reached.Finally,an example of leader-following multi-robot system is presented to demonstrate the effectiveness of the proposed controller.Thirdly,the problem of fault-tolerant consensus of second-order non-linear multi-agent systems subject to partial loss of actuator effectiveness is investigated.An adaptive sliding mode control method is proposed,and the actuator faults of the followers can be compensated.The stability of the consensus error dynamic system on the sliding mode surface is proved.The upper bound of the fault can be estimated via adaptive method.Then a sliding mode fault-tolerant controller is presented.On the basis of the sliding mode control theory,the proposed fault-tolerant controller ensures that the consensus of multi-agent systems can be reached.Furthermore,an example of leader-following multi-robot system is presented to demonstrate the effectiveness of the proposed controller.Finally,the problem of fault-tolerant consensus of general multi-agent system with actuator faults and external disturbance is investigated.An active fault-tolerant consensus control method based on distributed fault estimation observer is proposed.First,a distributed fault estimation observer is constructed for each follower,and the adaptive estimation arithmetic is designed.Then,based on the fault information,the active fault-tolerant control protocol is presented with the utilization of the relative output information,which effectively reduces the complexity of the fault-tolerant algorithm and improves the effect of fault-tolerant control.Moreover,an illustrative example of leader-following multi-aircraft system is presented to demonstrate the effectiveness and superiority of the proposed method.