Active Fault-tolerant Control Research of Multi-Agent System
Jun Wang, Jie Zhang · Journal of Physics Conference Series · 2021
Abstract Aiming at the multi-agent system with directed topology, taking into account the possible failure of any actuator of each agent, the design of the robust H ∞ active fault-tolerant controller for the multi-agent system is studied using the compensation control. First, introduce distributed intermediate variables to establish an observer-based closed-loop error model of the multi-agent system, and use the H ∞ control to design a fault detection observer to estimate the fault information of each agent's actuator in real time. Once the accurate fault information is obtained, immediately adjust online control gain to compensate for actuator failure. Finally, a simulation example verifies the effectiveness and feasibility of the proposed method.