Fault-Tolerant Consensus Control Of Leader-Following Multi-Agent Systems

Recently,with the mutual development of bioscience and control science,multiagent systems has been widely applied to aerospace?military?industry and other fields.Meanwhile,as the basic and the most important problem of multi-agent systems cooperative control,the consensus problem has become a research hotspot among scholars.However,due to the complexicity of actual environment,the faults that occur in the interconnected system are inevitable.Therefore,how to achieve consensus under different kinds of faults becomes increasingly vital to the multi-agent systems.Thus,the consensus of leader-following multi-agent systems under actuator faults is investigated in this paper,and the main research contents and innovations can be listed as follows:Firstly,for the leader-following multi-agent systems with actuators' partial loss of effectiveness fault,an optimal fault tolerant consensus control is proposed.In the process of controller design,based on the Euler-Lagrange equation,a controller that can guarantee the consensus of the faulty system without solving the difficult HJB equation is obtained.Moreover,the stability of the proposed controller is verified by the Lyapunov stability theory.Compared with other existing literatures,the proposed method is more robust.Finally,simulations are utilized to illustrate the effectiveness of the proposed method.Secondly,for the directed leader-following multi-agent systems with actuator faults,an optimal consensus control with control allocation that can deal with actuator's partial loss of effectiveness fault and outage fault without reconfiguring the controller is proposed for the first time.And the stability of the system is analyzed through the Lyapunov stability theory.Compared with the existing literatures,the proposed algorithm can guarantee the consensus errors converge to zero asymptotically without the traditional rank assumption.Finally,three simulations are provided to verify the effectiveness of the proposed method.Thirdly,for the event-triggered leader-following multi-agent systems,the consensus under actuators' multiplicative fault and outage fault is investigated and the stability of the leader-following multi-agent systems is analyzed.The event-triggered mechanism is utilized to relieve the communication burden of the interconnected system.Meanwhile,the Zeno behavior of the event-triggered system is proved to be avoided.Moreover,the control allocation is proposed to solve actuator fault of the event-triggered multi-agent systems for the first time.Compared with the existing faulttolerant methods,the proposed method can guarantee the consensus errors converge to zero asymptotically without the traditional rank assumption.Finally,simulation results are provided to demonstrate the effectiveness of the proposed method.