Cooperative Fault Tolerant Tracking Control for Multiagent Systems: An Intermediate Estimator-Based Approach
针对存在多重故障和不匹配干扰的线性多智能体系统，提出了一种基于中间估计器的分布式容错跟踪协议，通过分离干扰并估计故障信号来消除影响，仿真验证了有效性。
This paper studies the observer based fault tolerant tracking control problem for linear multiagent systems with multiple faults and mismatched disturbances. A novel distributed intermediate estimator based fault tolerant tracking protocol is presented. The leader's input is nonzero and unavailable to the followers. By applying a projection technique, the mismatched disturbances are separated into matched and unmatched components. For each node, a tracking error system is established, for which an intermediate estimator driven by the relative output measurements is constructed to estimate the sensor faults and a combined signal of the leader's input, process faults, and matched disturbance component. Based on the estimation, a fault tolerant tracking protocol is designed to eliminate the effects of the combined signal. Besides, the effect of unmatched disturbance component can be attenuated by directly adjusting some specified parameters. Finally, a simulation example of aircraft demonstrates the effectiveness of the designed tracking protocol.