Fault tolerant control in multi-agent systems subject to actuator fault
Mohammad Eslami, Mohammad Bagher Menhaj, Hossein Danaee · 2016
In this paper, fault tolerant control in multi-agent systems subject to actuator faults is addressed. The proposed method is based on an online estimator (Recursive Least square) and model predictive control. According to online method proposed, when a fault occurs, controller will be modified online to achieve control objects. Also, adding disturbance rejection has improved the controller's ability to deal with LIP fault. This method is used for a class of nonlinear systems named non-holonomic systems and formation control in presence of actuator fault in this system is investigated. Simulation results show the accuracy and efficiency of the proposed method.