Global Distributed Fault-Tolerant Consensus Control of Nonlinear Delayed Multiagent Systems With Hybrid Faults

• 成果类型: Article
• 署名作者: Li, Kuo; Ding, Steven X.; Zheng, Wei Xing; Hua, Chang-Chun
• 署名单位: University of Duisburg Essen; Western Sydney University; Yanshan University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3303098
• 发表日期: 2024
• 页码: 1967-1974
• 关键词: Consensus control; Robot sensing systems; TOPOLOGY; Heuristic algorithms; Fault tolerant systems; Fault tolerance; actuators; fault-tolerant control; global distributed consensus control; hybrid faults; nonlinear multiagent systems; state delays

摘要

This article is concerned with the distributed leader-following fault-tolerant consensus control problem of uncertain nonlinear delayed multiagent systems with hybrid faults including actuator faults and sensor faults. The faults are described as unknown time-varying functions, which can cause uncertain changes in the fault coefficients of sensors and actuators. In this case, we put forward a novel distributed consensus algorithm. First, we transform the consensus problem into the stability one of a single system by utilizing the sensor fault model and directed topology. Then, the dynamic gain is devised to compensate for uncertain parameters. Based on the backstepping control method, a distributed dynamic controller is designed via measurement data of nonideal sensors. By means of a new Lyapunov function, it is strictly proved that the designed controller can render all agents realizing the full-state consensus in the global sense. Moreover, the proposed algorithm allows that nonlinear dynamics include the state delays, and can be expanded to a fully distributed result. Finally, an example of application in chemical reactor systems is presented to confirm the effectiveness of our theoretical results.