Observer-based consensus control and fault detection for multi-agent systems
Gan Chen · Control theory & applications · 2014
A robust consensus control and fault detection algorithm is proposed for a class of nonlinear multi-agent systems subject to unknown external disturbances.First,an unknown input nonlinear observer is designed for each agent.Then,a robust consensus control protocol is presented to achieve the state consensus of the multi-agent systems by applying the estimated information of the nonlinear unknown input observers.The desired disturbance rejection criterion is guaranteed by the proposed control protocol.Thirdly,an adaptive threshold is derived and a fault detection approach based on adaptive threshold is proposed to detect the fault of each agent.The fault detection can be implemented by each agent in a fully distributed fashion.Finally,the proposed method is applied to the networked simple pendulums which are driven by dc motors.Simulation results are provided to validate the effectiveness of the proposed consensus control and fault detection scheme.