Fault-Tolerant Control of a Class of Nonlinear Multi-Agent Systems With Actuator Faults Based on K-Step Observers
Xu Guohui, Yimin Liu, Jianliang Chen, Zixuan Li · 2022
This paper is a study of actuator fault estimation and the control of fault-tolerant controller consistency for Lipschitz nonlinear multi-agent systems having the impact of actuator faults and external disturbances. Firstly, a new approach to fault estimation is proposed for the system under study: k-step fault estimation method, which combines the methods of distributed observers and centralized observers to better describe the fault estimation information. Secondly, an output feedback fault-tolerant controller is designed to offset the influence of the faulty system based on the fault estimation information obtained. Thirdly, stability conditions for distributed observers and controllers are obtained by solving linear matrix inequalities Finally, the effectiveness and superiority of the proposed method are illustrated by simulation examples.