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Volume 7 Issue 4
Jun.  2020

IEEE/CAA Journal of Automatica Sinica

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Chao Deng, Weinan Gao and Weiwei Che, "Distributed Adaptive Fault-Tolerant Output Regulation of Heterogeneous Multi-Agent Systems With Coupling Uncertainties and Actuator Faults," IEEE/CAA J. Autom. Sinica, vol. 7, no. 4, pp. 1098-1106, July 2020. doi: 10.1109/JAS.2020.1003258
Citation: Chao Deng, Weinan Gao and Weiwei Che, "Distributed Adaptive Fault-Tolerant Output Regulation of Heterogeneous Multi-Agent Systems With Coupling Uncertainties and Actuator Faults," IEEE/CAA J. Autom. Sinica, vol. 7, no. 4, pp. 1098-1106, July 2020. doi: 10.1109/JAS.2020.1003258

Distributed Adaptive Fault-Tolerant Output Regulation of Heterogeneous Multi-Agent Systems With Coupling Uncertainties and Actuator Faults

doi: 10.1109/JAS.2020.1003258
Funds:  This work was supported in part by the National Natural Science Foundation of China (61473195, 61603081, 61773131, 61773056, 61873306, U1966202, 61803305, 61873338), the China Postdoctoral Science Foundation (2015M580513), and Research Fund for the Taishan Scholar Project of Shandong Province of China (TSQN201812052)
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  • In this paper, we consider the distributed adaptive fault-tolerant output regulation problem for heterogeneous multiagent systems with matched system uncertainties and mismatched coupling uncertainties among subsystems under the influence of actuator faults. First, distributed finite-time observers are proposed for all subsystems to observe the state of the exosystem. Then, a novel fault-tolerant controller is designed to compensate for the influence of matched system uncertainties and actuator faults. By using the linear matrix inequality technique, a sufficient condition is provided to guarantee the solvability of the considered problem in the presence of mismatched coupling uncertainties. Moreover, it is shown that the system in closed-loop with the developed controller can achieve output regulation by using the Lyapunov stability theory and cyclic-small-gain theory. Finally, a numerical example is given to illustrate the effectiveness of the obtained result.

     

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    Highlights

    • A novel distributed adaptive fault-tolerant control method is proposed to solve the fault-tolerant output regulation problem for heterogeneous MASs with matched system uncertainties and mismatched coupling uncertainties among subsystems.
    • Different from the existing distributed fault-tolerant control result, a more general directed network topology is considered in this paper. To observe the state of the exosystem, novel distributed finite-time observers are designed. In particular, a new variable is introduced in observers to identify which subsystem accurately estimates the state of the exosystem.
    • Different from our previous work, in which only the matched coupling uncertainties are considered, the more general unmatched coupling uncertainties are considered in this paper. To deal with it, a novel sufficient condition with cyclic-small-gain condition is proposed by using the linear matrix inequality technique.

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