Dynamic fault tolerant control for multi-agent uncertain system with intermittent sampling
Bohui Wang, Jingcheng Wang, Huifeng Zhu, Bin Zhang, Xiaocheng Li, Xiaofeng Wang, Leijie Dai, Ruiqing Wang · 2016
This paper investigates the leader-follower problem in the presence of potential actuator faults. We focus on continuous-time multi-agent uncertain systems with a directed network topology. Time-varying fault parameters are considered, which relax the assumption in the prior work that the fault parameters of all followers must be fixed. We assume that these parameters can be sampled in an intermittent manner. Based on these samples, the cooperative control law is updated according to the proposed fault tolerant control strategy. It is shown that if the sampling condition, in terms of LMIs, is satisfied, the resulting closed-loop system will achieve consensus. Simulation results are provided to verify the theoretical finding.