Optimal Guaranteed Cost Control for Multi-agent Systems with Actuator Faults
Huaizhe Liu, Yan Li, Zhong Wang · 2018
This paper studies the optimal guaranteed cost consensus problem for multi-agent systems with time-varying actuator faults for both leaderless and leader-following cases. The fault-tolerant controller is designed to solve the consensus problem at the presence of actuator faults by transforming a robust control problem into an infinite horizon optimal control problem. Meanwhile, it is proved that the optimal upper bound for the global performance of the system exists. Finally, two simulation examples are presented to verify the effectiveness of the proposed consensus controller.