文章基本信息

标题：Distributed Passive Fault Tolerant Formation Tracking for Uncertain Second Order Multi-Agent Systems
本地全文：下载
作者：Anass Taoufik ; Michael Defoort ; Krishna Busawon 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2022
卷号：55
期号：6
页码：199-204
DOI：10.1016/j.ifacol.2022.07.129
语种：English
出版社：Elsevier
摘要：AbstractThis paper deals with the problem of distributed passive fault tolerant formation tracking control for cooperative second order multi-agent systems (MASs) subject to disturbances and sensor/actuator faults. The proposed scheme is based on decentralized observers used to robustly estimate the actuator and sensor faults in spite of disturbances. These estimates are then injected into a dynamic control law in order to mitigate their effects on the control objective. Using the Hcomethod, graph theory properties and the projection lemma, sufficient conditions in the form of a set of linear matrix inequalities (LMIs) are derived to guarantee the stabilization of the tracking errors while reducing the effects of sensor and actuator faults and disturbances. A numerical simulation illustrates the effectiveness of the proposed passive fault-tolerant control scheme.
关键词：KeywordsPassive fault-tolerant controlFormation trackingMulti-agent systemsActuator faultsSensor faults