Distributed Control for Uncertain Nonlinear Multiagent Systems Subject to Hybrid Faults
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ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
Distributed Control for Uncertain Nonlinear Multiagent Systems Subject to Hybrid Faults Changchun Hua*, Zhijie Li, Kuo Li, Shuzong Chen, and Jie Sun Abstract: This paper investigates a distributed consensus control problem for a class of uncertain nonlinear multiagent systems with hybrid faults. Most of the existing works about consensus control for multi-agent systems solely consider either actuator faults or process faults. Different from the works, the more comprehensive hybrid faults are proposed which mainly focusing on both process and actuator faults occur simultaneously. For the nonlinear multiagent systems with uncertainties, we propose a less conservative consensus strategy which relax the conservative condition on nonlinear terms. Subsequently, the novel distributed consensus strategy is proposed with the help of backstepping design method. Based on the Lyapunov stability theory, it is proved strictly that the proposed controllers make the followers reach an agreement on certain quantity of common interest. Finally, a simulation example is given to verify the effectiveness of the theoretical result. Keywords: Consensus control, hybrid faults, multi-agent systems, unmodeled dynamics.
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INTRODUCTION
In recent years, the distributed coordination problem of multi-agent systems (MASs) has received considerable attention due to typical applications such as robots, flocking, unmanned air vehicles, spacecraft formation flying, wireless sensor networks [1–4]. It can be classified as two classes, namely, consensus problem and containment control problem. A consensus problem was investigated for a class of nonlinear multiagent systems with time-varying control coefficients and unmeasured states under the undirected topology graph in [5]. The containment control problem like [6], which addressed the cluster formation control problem for an MAS operating via a communication network. The consensus problem including leader-following consensus and without leader consensus problem. As a basic problem in consensus control for multi-agent systems, leader-following consensus has gained much attention from researchers. It requires all states variables of the followers can track those of the leader and build the foundations of other cooperative tasks [7]. The rapid development of technology has led to more challenging operating conditions for many practical engineering systems. In most real world applications, the pres-
ence of modeling uncertainty may increase the possibility of potential system faults such as actuator faults and process faults, which may result in a performance degradation or even instability. There exist some works about design and analysis of controller for actuator faults. For example, by the use of a control law which can eliminate the effect of quantization, the work [8] dealt with an adaptive tracking control problem for a class of uncertain nonlinear systems with input quantization and actuator fault. In [9], a new result of neural-ne
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