Predefined-Time Distributed Fault-Tolerant Control for Nonlinear Multiagent Systems Suffering From Nonaffine Faults
研究了非线性多智能体系统在非仿射故障下的分布式预定义时间容错控制，提出一种基于新预定义时间定理的控制方案，保证系统信号在预定义时间内有界且一致性误差收敛到原点附近小区域。
This article investigates the distributed predefined-time (PT) fault-tolerant control for nonlinear multiagent systems (NNMSs) with nonaffine faults. A novel distributed PT control scheme is proposed based on a new PT theorem. The switching functions are introduced into distributed control signals to avoid the singularity problem. The second-order filter technology is designed to solve “explosion of complexity” issues. The newly designed PT compensation signals are utilized to eliminate filter errors. The proposed distributed PT controller based on local information can guarantee that all signals of the closed-loop system are PT bounded, and consensus errors of NNMSs can be enforced to a small region around the origin within a predefined time. Compared with the finite/fixed time, the predefined time is an exact value given in advance, which remains constant regardless of initial states and control parameters. Finally, two comparative simulations are provided to demonstrate the presented strategy.