Distributed fault-tolerant consensus tracking control for multiple Lagrangian systems with preset error bound constraints

Abstract

Actuator faults often occur in physical systems, which seriously affect the transient performance and control accuracy of the system. For the finite-time consensus tracking problem of multiple Lagrangian systems with actuator faults and preset error constraints, a novel distributed fault-tolerant controller is proposed in this paper. The proposed controller is developed based on the barrier Lyapunov function method and the adding a power integrator technique, which can not only guarantee the steady-state performance of the system but also its transient performance. Due to its strong sensitivity to the variation of system errors, the proposed controller can quickly eliminate the system initial errors and the error perturbations caused by actuator faults. That is, the controller can guarantee that the consensus error converges to zero in a finite time and is always constrained within the preset error bound. Finally, the effectiveness of the developed controller is verified by simulation of a multi-manipulator system.