Distributed Robust Fault Estimation for Multiagent Systems Based on Transition Variable Estimator
研究了一类带有执行器故障和非线性不确定性的多智能体系统的分布式鲁棒故障估计问题，提出了一种新型过渡变量估计器，可同时估计故障和系统状态，并通过轮式移动机器人实验验证了性能。
This article investigates the distributed robust fault estimation for a class of multiagent systems with actuator faults and nonlinear uncertainties. To estimate the actuator faults and system states simultaneously, a novel transition variable estimator is constructed. Compared with existing similar results, the fault estimator existing condition is not necessary for designing the transition variable estimator. Furthermore, the bounds of the faults and their derivatives can be unknown in designing the estimator for each agent in the system. The parameters of the estimator are calculated by using Schur decomposition and linear matrix inequality algorithm. Finally, the performance of the proposed method is demonstrated through experiments of wheeled mobile robots.