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Data-Based Output Synchronization of Discrete-Time Heterogeneous Multiagent Systems With Sensor Faults.

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    This study introduces novel data-based methods for fault detection and control in heterogeneous multiagent systems. These approaches overcome limitations of model-dependent techniques, enabling robust synchronization even with unknown system dynamics.

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    Area of Science:

    • Control Engineering
    • Systems Science
    • Robotics

    Background:

    • Heterogeneous multiagent systems require robust fault detection and tolerant control for reliable operation.
    • Existing fault-tolerant controllers (FTCs) often depend on precise system models, limiting their applicability.
    • Current FTCs may also require specific fault information, adding design complexity.

    Purpose of the Study:

    • To develop data-based fault detection mechanisms and FTCs for heterogeneous multiagent systems.
    • To overcome the limitations of existing methods that require precise system models.
    • To eliminate the need for pre-designed parameters for fault information.

    Main Methods:

    • A novel data-based detection mechanism for sensor faults is proposed.
    • A data-based fault-tolerant controller (FTC) is developed, utilizing system data directly.
    • The proposed methods are designed to function without prior knowledge of the system model.

    Main Results:

    • The data-based approach successfully addresses the inapplicability of existing methods to systems with unknown models.
    • Fault information is directly acquired from system data, simplifying controller design.
    • Simulation examples validate the effectiveness of the proposed fault detection and tolerant control strategies.

    Conclusions:

    • The proposed data-based detection mechanism and FTC offer a robust solution for output synchronization in heterogeneous multiagent systems with sensor faults.
    • These methods enhance system reliability and applicability, particularly in scenarios with unknown system dynamics.
    • The direct use of system data simplifies controller design and parameter tuning.