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Distributed-observer-based Fault Tolerant Control Design for Nonlinear Multi-agent Systems

Jianye Gong, Bin Jiang, and Qikun Shen*
International Journal of Control, Automation, and Systems, vol. 17, no. 12, pp.3149-3157, 2019

Abstract : The problem of distributed adaptive fault tolerant control is investigated for nonlinear multi-agent systems with sensor faults in this paper. By utilizing radial basis function neural networks to approximate the unknown continuous nonlinear functions, a distributed-observer-based adaptive neural networks scheme is proposed to estimate each node state, which is unmeasured in the system. Then, a kind of distributed adaptive controller is proposed for each follower based on the sliding mode design technique and fault tolerant control technique. Based on graph and Lyapunov stability theory, it is proved that the tracking errors converge to a small neighborhood of the origin with all signals in the closed-loop system being bounded. Finally, simulation results are given to demonstrate the effectiveness of the control scheme proposed in this paper.

Keyword : Adaptive control, fault tolerant control, multiagent system

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