Fault-tolerant Cooperative Formation Control for Multi-agent Systems with Actuator Faults
Jiantao Shi, Donghua Zhou, Jun Ding Sun, Yuhao Yang · 2019 CAA Symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS) · 2019
This note investigates fault-tolerant formation control for a type of linear leader-follower multi-agent systems (MASs) subject to actuator faults. For each following agent, the observer and fault estimator are constructed for estimating agents' states and the actuator fault, respectively. Based on the obtained state and fault estimation information, a class of fault-tolerant control scheme is given to guarantee formation maintenance of the MAS. It is proved that the formation errors of all the agents may converge to a prescribed set around the origin, if the parameters of the cooperative controller, observer and fault estimator are properly chosen. Finally, a simulation is utilized to illustrate the effectiveness of the given fault-tolerant formation protocol.