Fault diagnosis and fault-tolerant control for leader-follower multi-agent systems with time-delay
Bo Cao, Yawei Wu, Lina Yao · 2021 CAA Symposium on Fault Detection, Supervision, and Safety for Technical Processes (SAFEPROCESS) · 2021
Under the guidance of the directed graph, this paper studies the fault diagnosis (FD) and fault-tolerant control (FTC) of the follower multi-agent systems(MAS) with time delay. Actuator faults and disturbances are considered in the MAS model, which makes the work of this paper more challenging. Firstly, a robust distributed observer on the basis of the relative estimation error is put forward to obtain the fault estimation information. Then, after obtaining the fault information, a dynamic compensation fault-tolerant controller based on the relative output tracking error is proposed to enable the output trajectory of followers to track the output trajectory of the leader. Finally, the proposed algorithm is verified by an example and the satisfactory results are obtained.