Data-Based Fault-Tolerant Consensus Control for Uncertain Multiagent Systems Via Weighted Edge Dynamics
针对通信图加权且系统模型完全未知的不确定多智能体系统，通过引入加权边动力学，提出一种数据驱动算法来设计容错控制器，实现系统一致性。
This paper is concerned with the fault-tolerant consensus control for a class of uncertain multiagent systems (MASs) via weighted edge dynamics. Different from the existing consensus results, the considered communication graph is weighted and the system model is assumed to be completely unknown. First, based on an important factorization of Laplacian matrix, a novel system named as weighted edge dynamics is introduced, and it is then proved that the stabilizing controller design for the transformed weighted edge dynamics is equivalent to the consensus controller design for the initial MAS. Within this framework, an efficient data-based algorithm is given to derive the fault-tolerant stabilizing controller, and the consensus of the initial MAS can be further ensured under the designed control protocol. Finally, some simulation examples on the LC oscillator networks are given to demonstrate the validity of theoretical results.