Distributed Fault-Tolerant Cooperative Output Regulation for Multiagent Networks Via Fixed-Time Observer and Adaptive Control

Abstract

This article addresses the problem of fault-tolerant cooperative output regulation for multiagent networks via observer and adaptive control approach. Three types of actuator failures, consisting of partial loss of effectiveness fault, outage fault, and bias fault, are considered. First, two distributed fixed-time observers are proposed to estimate the information of an exosystem such that observer errors can converge to zero within a desired time independent of the initial conditions. Then, a novel distributed adaptive fault-tolerant control algorithm on the basis of the observer states and relative information of neighbors is presented to ensure that the output regulation problem of multiagent networks is solvable despite the impact of faults. Different from the existing output regulation control protocols, the assumption of which the information of exosystem must be accessible to all agents is removed in this article. Moreover, the presented control scheme can compensate for the influence of three actuator faults effectively. Finally, two examples are presented to illustrate the effectiveness of the developed controller.