Mixed Passive/H_? Fault-Tolerant Consensus For Faulty Multi-Agent Systems

This article focuses on the investigations of related control methods for Markov jumping multi-agent systems with actuator faults or controller input saturation.The question about actuator faults including partial fault and bias fault is a very common problem in the process of control theory research.In addition,controller input saturation is the main nonlinear problem,which is also interesting subject in the system.To make the system suffer from actuator faults and controller input saturation reach a certain performance index and achieve the consensus,a fault-tolerant controller under the directed topology structure is proposed.Finally,by establishing the Lyapunov functional,the sufficient conditions are presented to ensure that the multi-agent system achieve the consensus with a prescribed hybrid passive/performance index.This article mainly uses the augmented matrix method to reorganize the system matrix expression,and combines the state observation value with the error observation value to design the fault observer.In addition,theoretical methods such as algebraic graph theory,Lyapunov functional,linear matrix inequality(LMI)and free weight matrix are used to design fault-tolerant controllers.The specific design method is as follows:(1)The consensus problem of Markov jumping multi-agent systems with actuator bias fault is studied.First,based on the augmented matrix method,the fault observer is designed to estimate the unknown bias fault.Then,according to the estimated fault information and based on the hybrid passive/H_?performance index,the corresponding fault-tolerant controller is designed using theoretical methods including algebraic graph theory and Schur's supplementary lemma,which guarantees the fault-tolerant consensus of the multi-agent system while ensuring the bias fault of the actuator can be compensated well.(2)The consensus problem of Markov jumping multi-agents subject to multiple-types actuator faults including partial faults and bias faults is investigated.The introduction of multiple-types of actuator faults greatly enhances the design complexity of fault observers and fault-tolerant controllers.Therefore,a design method for fault observers and fault-tolerant controllers satisfying mixed passive/H_?performance index is proposed.Based on the fault information estimated by the fault observer,a design method of fault-tolerant controllers under multiple-types actuator faults is proposed to ensure the hybrid passive H_?fault-tolerant consensus of Markov jumping multi-agent systems.(3)The consensus problem of Markov jumping multi-agent with input saturation under multiple-types actuator faults is researched.First,for the actuators with multiple-types faults,a fault observer that satisfies the passive/H_?performance is designed to compensate for the impact of the fault on the system.Subsequently,for the sake of solving the influence of input saturation on the controller,a corresponding fault-tolerant controller was designed to ensure the fault-tolerant consensus of the Markov jumping multi-agent with input saturation subject to the multiple-types actuator faults.