TY - JOUR
T1 - Adaptive fault-tolerant consensus for a class of uncertain nonlinear second-order multi-agent systems with circuit implementation
AU - Jin, Xiaozheng
AU - Wang, Shaofan
AU - Qin, Jiahu
AU - Zheng, Wei Xheng
AU - Kang, Yu
PY - 2018
Y1 - 2018
N2 - In this paper, a robust fault-tolerant consensus control strategy and its circuit implementation method are proposed for a class of nonlinear second-order leader-following multi-agent systems against multiple actuator faults and time-varying state/input-dependent system uncertainties. The faults of partial loss of actuator effectiveness and bias-actuators are considered without knowing eventual faulty information. The uncertainties are supposed to be structured and to satisfy integral quadratic constraints. The nonlinear dynamics of underlying systems are described by linear state-dependent functions based on the differential mean value theorem. By designing adaptive schemes and state-feedback control gains, a novel distributed control strategy is constructed to ensure the asymptotic consensus of agents in the presence of actuator faults, uncertainties, and nonlinear dynamics. The control strategy is further physically implemented based on the circuit theory. The efficiency of the developed control circuits is verified by a multiple coupled nonlinear forced pendulum system based on a circuit simulation software.
AB - In this paper, a robust fault-tolerant consensus control strategy and its circuit implementation method are proposed for a class of nonlinear second-order leader-following multi-agent systems against multiple actuator faults and time-varying state/input-dependent system uncertainties. The faults of partial loss of actuator effectiveness and bias-actuators are considered without knowing eventual faulty information. The uncertainties are supposed to be structured and to satisfy integral quadratic constraints. The nonlinear dynamics of underlying systems are described by linear state-dependent functions based on the differential mean value theorem. By designing adaptive schemes and state-feedback control gains, a novel distributed control strategy is constructed to ensure the asymptotic consensus of agents in the presence of actuator faults, uncertainties, and nonlinear dynamics. The control strategy is further physically implemented based on the circuit theory. The efficiency of the developed control circuits is verified by a multiple coupled nonlinear forced pendulum system based on a circuit simulation software.
KW - actuators
KW - fault tolerance (engineering)
KW - multiagent systems
UR - http://handle.westernsydney.edu.au:8081/1959.7/uws:45564
U2 - 10.1109/TCSI.2017.2782729
DO - 10.1109/TCSI.2017.2782729
M3 - Article
SN - 1549-8328
VL - 65
SP - 2243
EP - 2255
JO - IEEE Transactions on Circuits and Systems I: Regular Papers
JF - IEEE Transactions on Circuits and Systems I: Regular Papers
IS - 7
ER -