Research On Consistency Of Fault Tolerant Constraints In Multi-agent Systems

In this paper,a class of constrained consensus problem for multi-agent system is discussed.In the actual control process,the actuator of the agent may inevitably suffer from various failures.It is of great theoretical significance and practical application value to study the fault tolerance constrained consensus of multi-agent systems.In addition,due to the problems including network influence,switching topology,signal transmission delay,network bandwidth constraint,system external interference and so on,this paper achieve fault-tolerant constraint consensus of multi-agent system under failure based on fault-tolerant control theory,adaptive control theory,control theory,Lyapunov stability theory and other related knowledge.The main research contents of this paper are as follows:(1)A class of multi-agent systems with external disturbance and failure under constrained conditions is considered.Firstly,a disturbance observer is constructed to estimate the unknown disturbance,and the estimated disturbance information is used to compensate the influence of the disturbance on the multi-agent system.Secondly,an adaptive fault-tolerant controller is designed.The adaptive method is used to estimate the unknown part of the failure fault,as well as the robust control method is selected to weaken the influence of the fault estimation error on the multi-agent system,and the fault-tolerant constrained consensus of the multi-agent system is realized.(2)When signal transmission delay and switching topologies occur in the faulty multi-agent systems,the consensus analysis of the system is more complex.First of all,according to the characteristics of topologies,the switching topology is modeled as the norm bounded topology uncertainties,the fault-tolerant constrained consensus for faulty multi-agent systems with time-delay and switching topology is studied based on the methods including Lyapunov function,linear matrix inequality.(3)In multi-agent system,the signal transmission and interaction between each agents are realized through network.Due to the limited bandwidth in the communication network,it brings a great challenge to the real-time information transmission between multi-agent.In order to increase the utilization of network resources,event triggering mechanism is introduced.Then,the corresponding faulttolerant controller is designed by using the triggered signal to achieve fault-tolerant constrained consensus.