Adaptive consensus control for output-constrained nonlinear multi-agent systems with actuator faults. (English) Zbl 1491.93113
Summary: This paper addresses the problem of leader-follower consensus fault-tolerant control for a class of nonlinear multi-agent systems with output constraints. Specifically, a new nonlinear state transformation function is proposed to deal with the asymmetric constraint on output. Moreover, by integrating backstepping and radial basis function neural network approaches, an adaptive consensus control framework is developed with a single parameter estimator, which mitigates the computation of control algorithm in comparison with conventional adaptive approximation based control techniques. Then an adaptive compensation method is proposed to eliminate the effect of actuator failure. Under the proposed control scheme, all the closed-loop signals of the systems are bounded and the consensus tracking error converges to an adjustable small neighborhood of zero. To evaluate the developed control algorithm, a group of four networked two-stage chemical reactors is used to illustrate the effectiveness of the theoretic results obtained.
MSC:
| 93D50 | Consensus |
| 93C40 | Adaptive control/observation systems |
| 93A16 | Multi-agent systems |
| 93C10 | Nonlinear systems in control theory |
Keywords:
eader-follower consensus fault-tolerant control; nonlinear multi-agent systems; networked two-stage chemical reactorsReferences:
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