Observer-Based Consensus Control Against Actuator Faults for Linear Parameter-Varying Multiagent Systems
针对线性参数变化多智能体系统的执行器故障，设计分布式观测器和鲁棒一致性控制协议，通过线性矩阵不等式优化求解，实现抗干扰和故障容错。
This paper addresses the robust consensus reliable control problem against actuator faults for linear parameter-varying multiagent systems. First, the actuator faults are modeled via a polytopic uncertainty method. Second, a distributed observer is designed for the single agent by sharing the communication network sensors to estimate the state information. Then by these estimated information, a robust consensus reliable control protocol against actuator faults is obtained and desired disturbance rejection performance can be guaranteed by this proposed protocol. Third, the nonconvexity conditions of the consensus control protocol can be translated into an linear matrix inequality optimization problem via simple matrix calculation. Finally, the effectiveness of the proposed reliable controller scheme is illustrated by two examples.