Event-Based Adaptive Optimal Fault-Tolerant Consensus Control for Uncertain Nonlinear Multiagent Systems With Actuator Failures
针对执行器故障和参数未知的非线性多智能体系统，提出一种基于强化学习的事件触发自适应最优容错一致性控制方法，通过分布式控制律和故障补偿保证系统稳定性。
This article addresses the event-based adaptive optimal fault-tolerant consensus control problem for a class of nonlinear multiagent systems (MASs) under a directed graph. It can be solved that both control gains and actuator failure parameters are unknown in considered MASs, which enhances the practicability of optimal consensus control. First, a reinforcement learning-based distributed optimal control law is designed by constructing the identifier-critic-actor learning networks. Furthermore, by utilizing the distributed optimal control law as an auxiliary variable, an adaptive fault-tolerant controller is proposed to effectively compensate for actuator failures. Meanwhile, a co-design scheme is proposed for the construction of an event-triggered control input with the fault-tolerant property. It is proven that the designed control input ensures the boundedness of closed-loop systems through rigorous stability analysis. Finally, the effectiveness of the developed approach can be illustrated via simulations of numerical nonlinear MASs and a group of autonomous underwater vehicles.