Distributed Adaptive Leader-Following Consensus for Nonlinear Multiagent Systems With Actuator Failures Under Directed Switching Graphs
针对有向切换图下存在多执行器故障的非线性多智能体系统，设计了一种分布式自适应输出反馈一致性协议，首次解决了允许非匹配冗余的故障补偿问题，使一致性误差收敛到任意小集合。
This article studies the distributed adaptive failures compensation output-feedback consensus for a class of nonlinear multiagent systems (MASs) with multiactuator failures allowing unmatched redundancy under directed switching graphs. With estimated information of neighbors, a novel distributed reference generator is designed. To compensate the unmeasured state variables of each agent, a reduced-order dynamic gain filter is constructed. Based on the generator and filter, and using the recursive design method, a distributed adaptive protocol is designed, where the adaptive technique is used to compensate the actuator failures. The proposed scheme can significantly relax conditions on the communication graph, which allows the graph to be disconnected at any time instant. The number of introduced variables in the filter and its dimension is greatly reduced and, thus, reduces the numerical challenge. The output-feedback consensus for nonlinear MASs with actuator failures and possible unmatched actuator redundancy is addressed for the first time. The consensus error can converge to an arbitrarily small set not affected by actuator failures, and the resulting closed-loop system is semiglobally stable. Finally, simulation results are given to illustrate the effectiveness of the proposed method.