Distributed Adaptive Fault-Tolerant Control of Uncertain Multi-Agent Systems
It addresses the problem of maintaining consensus in multi-agent systems despite actuator faults, which is important for applications like formation control, but the approach is incremental.
This paper develops an adaptive fault-tolerant control scheme for nonlinear uncertain multi-agent systems, ensuring stability and leader-follower consensus under various fault scenarios.
This paper presents an adaptive fault-tolerant control (FTC) scheme for a class of nonlinear uncertain multi-agent systems. A local FTC scheme is designed for each agent using local measurements and suitable information exchanged between neighboring agents. Each local FTC scheme consists of a fault diagnosis module and a reconfigurable controller module comprised of a baseline controller and two adaptive fault-tolerant controllers activated after fault detection and after fault isolation, respectively. Under certain assumptions, the closed-loop system's stability and leader-follower consensus properties are rigorously established under different modes of the FTC system, including the time-period before possible fault detection, between fault detection and possible isolation, and after fault isolation.