Distributed neuroadaptive monitoring fault‐tolerant consensus control for nonlinear multi‐agent systems with actuator faults
Xiaoshan Ma, Lin Yang, Linru Ma, Feng Yang, Wenhan Dong, Long Zhang, Ming Jin, Yan Lin · International Journal of Robust and Nonlinear Control · 2022
Abstract This article proposes a distributed neuroadaptive monitoring fault‐tolerant consensus control scheme for a class of uncertain, nonlinear, strict feedback multi‐agent systems which have actuator faults and all the control coefficients in them are unknown. This scheme provides each agent with a local monitor combined with the actuator switching to solve actuator failure. Simultaneously, it guarantees the tracking error satisfies the prescribed transient and steady‐state performance, even if there exist actuators switching. Furthermore, the time varying asymmetric Barrier Lyapunov function (BLF) and the auxiliary system are used to analyze input and output constraints' influence. Under the action of aforementioned control scheme, closed‐loop systems can be stable and semiglobal uniform boundedness. Additionally, its efficacy can be proved in numerical simulation.