Distributed adaptive fault-tolerant output regulation of heterogeneous multi-agent systems with coupling uncertainties and actuator faults

• Main Authors: Deng, Chao, Gao, Weinan, Che, Weiwei
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Electrical and electronic engineering; Adaptive Control; Cyclic-small-gain
• Online Access: https://hdl.handle.net/10356/145528
• Institution: Nanyang Technological University

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