Integrated Fault Estimation and Fault-Tolerant Tracking Control for Lipschitz Nonlinear Multiagent Systems

Area of Science:

• Control Systems Engineering
• Nonlinear Systems Analysis
• Multiagent Systems

Background:

• Multiagent systems are susceptible to actuator faults, external disturbances, and uncertainties, compromising their operational integrity.
• Existing control strategies often struggle to simultaneously address fault estimation and fault-tolerant control in complex nonlinear systems.

Purpose of the Study:

• To develop an integrated fault estimation (FE) and fault-tolerant tracking control (FTTC) strategy for Lipschitz nonlinear multiagent systems.
• To enhance system resilience against actuator faults, external disturbances, and uncertainties.

Main Methods:

• Utilized an unknown input observer (reduced/full order) for fault estimation in each agent.
• Proposed a state/output feedback FTTC strategy employing integral sliding-mode and adaptive super-twisting algorithms.
• Employed H∞ optimization with linear matrix inequality (LMI) formulation for simultaneous observer and controller gain determination.

Main Results:

• Successfully demonstrated the capability of the proposed integrated FE and FTTC strategy.
• Achieved robust tracking control performance in the presence of significant system uncertainties and actuator faults.
• Validated the effectiveness through comparative simulation studies.

Conclusions:

• The developed integrated FE and FTTC strategy offers a robust solution for Lipschitz nonlinear multiagent systems facing actuator faults and uncertainties.
• The simultaneous optimization of observer and controller gains via H∞/LMI provides an efficient design methodology.
• The proposed approach significantly enhances the reliability and performance of multiagent systems in challenging operational environments.