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Simultaneous actuator fault estimation and fault-tolerant tracking control for multi-agent systems: a sliding-mode observer-based approach
International Journal of Control ( IF 2.1 ) Pub Date : 2020-08-04 , DOI: 10.1080/00207179.2020.1798023
Shahram Hajshirmohamadi 1 , Farid Sheikholeslam 1 , Nader Meskin 2
Affiliation  

This study is concerned with the design of a distributed simultaneous fault estimation and fault-tolerant control scheme for linear multi-agent systems subject to actuator faults. For each agent, a sliding-mode observer-based estimator/controller module is proposed that uses the available local relative output measurements and the information transmitted from the neighbouring agents. By considering the H performance index and using the linear matrix inequality technique, the parameters of the observers are designed such that the fault estimation is robust against disturbances and at the same time, a robust leader-following mission in the presence of actuator fault is guaranteed. As the fault estimator and fault tolerant controller are integrated in the proposed strategy, there is no need for separate design of these units. Moreover, the proposed method improves the existing fault estimation techniques in terms of both complexity and performance. Two simulation examples are presented to illustrate the effectiveness of the proposed methodology.



中文翻译:

多智能体系统的同时执行器故障估计和容错跟踪控制:一种基于滑模观测器的方法

本研究涉及为受执行器故障影响的线性多智能体系统设计分布式同时故障估计和容错控制方案。对于每个代理,提出了一个基于滑动模式观察器的估计器/控制器模块,该模块使用可用的本地相对输出测量和从相邻代理传输的信息。通过考虑H性能指标和使用线性矩阵不等式技术,设计观测器的参数,使得故障估计对干扰具有鲁棒性,同时保证了在存在执行器故障的情况下鲁棒的领导者跟随任务。由于故障估计器和容错控制器集成在所提出的策略中,因此无需单独设计这些单元。此外,所提出的方法在复杂性和性能方面都改进了现有的故障估计技术。给出了两个仿真例子来说明所提出的方法的有效性。

更新日期:2020-08-04
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