Distributed Fault-Tolerant Tracking Control for Uncertain Homogeneous and Heterogeneous MASs Under Asynchronous Sampled Communications

Abstract

In this paper, the distributed fault-tolerant tracking control (FTTC) problems for uncertain homogeneous and heterogeneous multi-agent systems (MASs) under asynchronous sampled communications are investigated. In the case of asynchronous sampled communications, each agent is sampled at its own sampling instants and exchanges its sampling information to neighbor agents. In the presence of actuator failures, asynchronous sampled communications and different system dynamics, it is difficult to accomplish the task of distributed tracking control. To overcome this difficulty, two novel observer-based distributed FTTC protocols for uncertain homogeneous and heterogeneous MASs under asynchronous sampled communications are proposed. First, distributed observers are designed for each follower to estimate the leader's state under asynchronous sampled communications. Then, by virtue of the estimate, adaptive FTTC strategies are developed by utilizing the state feedback control and output feedback control, respectively. Finally, two simulation results are given to verify the theoretical results.