Observer-based distributed adaptive fault-tolerant containment control of multi-agent systems with general linear...

Area of Science:

• Control Systems Engineering
• Robotics
• Fault-Tolerant Control

Background:

• Multi-agent systems face challenges in distributed containment control due to actuator bias faults.
• Unknown and bounded inputs complicate achieving consensus within a dynamic leader's convex hull.
• Existing methods may not adequately address combined unknown inputs and bias faults.

Purpose of the Study:

• To design a distributed adaptive fault-tolerant controller for multi-agent systems.
• To achieve containment control for followers within the convex hull of dynamic leaders.
• To address actuator bias faults and unknown bounded inputs simultaneously.

Main Methods:

• An observer is constructed to estimate system states and actuator bias faults.
• A distributed adaptive fault-tolerant controller is developed using the observer estimates.
• An auxiliary controller gain is introduced to handle unknown inputs and bias faults.
• An adaptive mechanism adjusts coupling gains online without global information.

Main Results:

• The proposed control protocol guarantees boundedness of all closed-loop system signals.
• Followers converge to the convex hull of dynamic leaders with bounded residual errors.
• The effectiveness is demonstrated using a F-18 aircraft longitudinal motion model.

Conclusions:

• The developed observer-based distributed adaptive fault-tolerant controller effectively achieves containment control.
• The method successfully handles actuator bias faults and unknown bounded inputs in multi-agent systems.
• The approach ensures system stability and convergence, validated by a realistic aircraft model.