This paper presents a distributed integrated fault diagnosis and accommodation scheme for leader- following formation control of a class of nonlinear uncertain second-order multi-agent systems. The fault model under consideration includes both process and actuator faults, which may evolve abruptly or incipiently. The time-varying leader communicates with a small subset of follower agents, and each follower agent communicates to its directly connected neighbors through a bidirectional network with possibly asymmetric weights. A local fault diagnosis and accommodation component is designed for each agent in the distributed system, which consists of a fault detection and isolation module and a recongurable controller module comprised of a baseline controller and two adaptive fault- tolerant controllers, activated after fault detection and after fault isolation, respectively. By using appropriately designed Lyapunov functions, the closed-loop stability and asymptotic convergence properties of the leader-follower formation are rigorously established under dierent modes of the fault-tolerant control system.


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    Title :

    Distributed Adaptive Fault-Tolerant Leader-Following Formation Control of Nonlinear Uncertain Second-Order Multi-Agent Systems



    Publication date :

    2018-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629