Research On Observer-based Fault-tolerant Control For Multi-agent Systems

For multi-agent systems,the consensus control protocol design has been widely concerned because of its practical application value in unmanned aerial vehicles(UAVs),intelligent robot formations and so on.However,in practical control systems,actuator fault,switching topology and time delay will reduce the performance of closed-loop systems.In order to effectively reduce the influence of various factors on the systems and ensure the stability of the systems,this article mainly focuses on the Markov jump multi-agent systems,using the fault-tolerant control theory,Lyapunov stability theory,algebraic graph theorem and other methods,a series of observer-based fault-tolerant method are provided.The main ideas of this article are as follows:(1)The design of fault observer and fault-tolerant controller for multi-agent systems with unknown actuator bias fault is studied in this part.Firstly,a fault observer is constructed to estimate the unknown faults,and the estimated fault information is used to reduce the influence of the faults on the systems.Secondly,by using the free weight matrix,Schur complement lemma,Lyapunov theory,linear matrix inequality methods,the fault-tolerant controller is designed to ensure that the closed-loop systems satisfies the H_?performance,and the fault-tolerant consensus of the multi-agent systems is achieved.(2)The fault diagnosis and fault-tolerant control cooperative design for stochastic multi-agent systems with unknown actuator fault is investigated.The coupling between the control systems and the observation systems often makes the separation principle no longer valid.Therefore,the problem of the cooperative design becomes more complex and it has more practical application value.Using Lyapunov theory,free weight matrix and other methods,a fault observer and fault-tolerant controller cooperative design approach is provided to achieve the fault-tolerant consensus of the stochastic multi-agent systems.(3)The cooperative design problem of delayed multi-agent systems with actuator faults and switching topology is investigated.Firstly,the switching topology is modeled as a kind of topology uncertainty.Secondly,considering bias fault and partial fault together,a cooperative design method is proposed for the considered systems to achieve the fault-tolerant consensus of stochastic multi-agent systems with switching topology.The effectiveness of the proposed method is verified via a numerical example.