Distributed Active Fault-Tolerant Cooperative Control for Multiagent Systems With Communication Delays and External Disturbances
针对存在多重故障、通信时延和外部干扰的领导者-跟随者多智能体系统，提出一种分布式主动容错协同控制方法，通过设计新的分布式一致性协议和时延中间观测器，实现状态一致性和故障补偿。
This article investigates the distributed active fault-tolerant cooperative control problem for leader-follower multiagent systems (MASs) in the presence of multiple faults, communication delays, and external disturbances. A new distributed consensus protocol is put forward to ensure the state consensus of MASs, which can be served as a nominal controller in fault-free cases with communication delays and external disturbances. A novel distributed time-delay intermediate observer, which can estimate system states and multiple faults simultaneously, is derived based on the time-delay closed-loop system equation. By integrating a fault compensation mechanism into the nominal controller, a distributed active fault-tolerant consensus controller is constructed for the follower agents to eliminate the adverse effects of multiple faults. Simulation examples are provided to demonstrate the effectiveness of the proposed method.