Distributed adaptive fault-tolerant supervisory control for leader-following systems with actuator faults
Jianye Gong, Bin Jiang, Yajie Ma, Xiaodong Han, Jianglei Gong · International Journal of Systems Science · 2021
This paper investigates an adaptive cooperative fault-tolerant supervisory control problem for nonlinear strict-feedback leader-following systems with unknown control coefficients and actuator faults under the fixed directed graph. Radial basis function neural networks are used to approximate system uncertainties. The Nussbaum gain technique is introduced to address unknown signs of control gains. Then, based on the dynamic surface control method, a distributed adaptive fault-tolerant control scheme is presented to compensate for the actuator faults of followers. For neural networks approximation theory, the unknown smooth function can only be approximated on a compact set due to the approximation errors. By theoretic analysis, the supervisory-based adaptive controllers are proposed to guarantee that system state signals can converge to compact sets and the leader-following systems can achieve the practical output consensus. Finally, the simulation results are provided to show the validity of the proposed consensus scheme.