Fully Distributed Fault-Tolerant Consensus-Tracking Control for Multiple Wheeled Mobile Robots With Event-Triggered Communication
研究了有向图下多轮式移动机器人在双执行器故障时的全分布式输出反馈一致性跟踪控制问题，设计了事件触发通信下的估计器和容错控制器，仿真验证了有效性。
This article investigates the fully distributed output feedback consensus-tracking control problem for multiple wheeled mobile robots (multi-WMRs) subject to dual-actuator faults (DAFs) under the directed graph. First, a fully distributed estimator is designed to asymptotically estimate the leader's states with nonzero input under event-triggered communication. Next, novel filters are introduced to compensate for unmeasured velocity information in the presence of DAF, and output feedback fault-tolerant controllers are developed to ensure asymptotic consensus tracking despite the faults of actuators. Each robot in the considered multi-WMR system is equipped with two controllers that are co-designed in a unified framework. The final control laws are obtained by solving a set of equations, for which the existence of a unique solution is rigorously established. The proposed scheme not only enables output feedback control under partial loss-of-effectiveness (PLOE) faults in dual actuators, but also ensures fully distributed consensus tracking with event-triggered communication. The simulation results validate the effectiveness of the proposed approach.