Abstract
This paper studies the fault-tolerant tracking consistency problem of multi-agent systems with actuator faults and saturation and L <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> disturbance. Firstly, a new index is given to describe the anti-disturbance ability and H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> performance of the multi-agent system. In addition, a new method of designing adaptive fault-tolerant controller is given for multi-agent systems which can guarantee that the closed-loop systems H performance and disturbance tolerance performance are better than the fixed gains method. For this new method, by using the adaptive law, the controller parameters are updated on-line to compensate for the fault effects on multi-agent systems. The results show that the adaptive controller designed can achieve system consistency and better performance in the case of multi-agent system with actuator failure, saturation and L <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> disturbance. An example illustrating the validity of the results is given.
Highlights
An agent is an entity that exists in a specific environment and can be perceived and changed according to the environment
With the increasing demand for engineering applications in recent years, research scholars have been inspired by the self-organization phenomenon of nature, and proposed the concept of Multi-agent systems (MAS)
When actuator saturation and faults occur simultaneously, the consistency of multi-agent systems will be greatly affected. This paper considers both fault and saturation of actuators of multi-agent systems under external disturbances by designing adaptive gain compensation control law to guarantee the closed-loop H∞ performance of MAS
Summary
An agent is an entity that exists in a specific environment and can be perceived and changed according to the environment. This concept was first proposed by American professor M. Multi-agent systems (MAS) are proposed by biologists in the study of group behaviours of social organisms in nature. With the increasing demand for engineering applications in recent years, research scholars have been inspired by the self-organization phenomenon of nature, and proposed the concept of MAS. With the rapid development of artificial intelligence, sensors and other technologies, the research of MAS has received more and more attention, gaining extensive application in such areas as multi-satellite formation, drone formation and robot group control ([2], [3])
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