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Distributed adaptive fault-tolerant output regulation of heterogeneous multi-agent systems with coupling uncertainties and actuator faults
IEEE/CAA Journal of Automatica Sinica ( IF 11.8 ) Pub Date : 2020-06-29 , DOI: 10.1109/jas.2020.1003258
Chao Deng , Weinan Gao , Weiwei Che

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.

中文翻译:

具有耦合不确定性和执行器故障的异构多主体系统的分布式自适应容错输出调节

本文考虑了执行器故障影响下具有匹配系统不确定性和子系统间耦合不匹配不确定性的异构多主体系统的分布式自适应容错输出调节问题。首先,为所有子系统提出了分布式的有限时间观察者,以观察外泌系统的状态。然后,设计了一种新型的容错控制器,以补偿匹配的系统不确定性和执行器故障的影响。通过使用线性矩阵不等式技术,提供了充分的条件,以确保在存在不匹配的耦合不确定性的情况下所考虑问题的可解决性。此外,结果表明,采用李雅普诺夫稳定性理论和循环小增益理论,采用所开发控制器的闭环系统可以实现输出调节。最后,通过数值例子说明了所得结果的有效性。
更新日期:2020-06-30
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