Adaptive Predictor-Based Event-Triggered Tracking Control for Nonlinear Multiagent Systems With Fault Detect-Switch-Compensate Mechanism
针对非线性多智能体系统的跟踪控制问题，提出一种故障检测-切换-补偿机制，通过构造故障观测器识别未知故障发生时刻并切换控制器至补偿模式，同时利用预测误差和跟踪误差进行反馈补偿，保证系统稳定性。
To solve the tracking control problem, this article proposes a detect-switch-compensate mechanism based on fault-tolerant control strategy. Due to the existing challenge of nonlinear faults about occurrence time being unknown, a fault observer is constructed to recognize when faults occur, and the controller is activated to the fault compensate mode. Based on the above analysis, compared with the method of continuous compensation, the proposed detect-switch-compensate algorithm which uses the discontinuous compensation method having the advantage of high efficiency. Furthermore, the fault observer also solves the problem of unmeasured states. Meanwhile, both the normal tracking error and the prediction error caused by the predictor technology are considered to the feedback compensation, which prevents the system being unstable due to the large prediction error. On the basis of the Lyapunov stability, the stability of the closed-loop system is proven. A simulation example is supplied to elicit the availability of the presented methodology.