Robust Cooperative Fault-Tolerant Control for Uncertain Multi-Agent Systems Subject to Actuator Faults.

Abstract

This article investigates the robust cooperative fault-tolerant control problem of multi-agent systems subject to mismatched uncertainties and actuator faults. During the design process of the intermediate variable estimator, there is no need to satisfy fault estimation matching conditions, and this overcomes a crucial constraint of traditional observers and estimators. The feedback term of the designed estimator contains the centralized estimation errors and the distributed estimation errors of the agent, and this further improves the design freedom of the proposed estimator. A novel fault-tolerant control protocol is designed based on the fault estimation information. In this work, the bounds of the fault and its derivatives are unknown, and the considered method is applicable to both directed and undirected multi-agent systems. Furthermore, the parameters of the estimator are determined through the resolution of a linear matrix inequality (LMI), which is decoupled by employing coordinate transformation and Schur decomposition. Lastly, a numerical simulation result is used to demonstrate the effectiveness of the proposed method.