Distributed Fault-Tolerant Control for Nonlinear Heterogeneous Multiagent System With Fault Indication Under Safety Constraint
研究了异构非线性多智能体系统在时变执行器故障、外部干扰和系统不确定性下的分布式协同跟踪问题，通过构建带故障指示的虚拟系统防止故障传播并满足安全约束，使跟踪误差收敛到零。
In this article, the distributed cooperative tracking problem for heterogeneous nonlinear multiagent system model with time-varying actuator faults, external disturbance, and system uncertainties is investigated. The virtual system with fault indication is constructed for each agent to prevent fault propagation and adjust adaptively to satisfy safety constraints. The adaptive fault-tolerant and anti-disturbance controller in the real system achieves tracking to the virtual system and heterogeneous consensus. It is shown that the proposed distributed control strategy converges the tracking error to zero and realizes controllable fault indication in the virtual layer under safety constraints. The effectiveness of the proposed control scheme is verified by simulation examples.