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Distributed Fault-Tolerant Control of High-Order Input-Output Multi-Agent Systems

机译：高阶输入输出多Agent系统的分布式容错控制

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In this paper, a distributed adaptive fault-tolerant control (FTC) scheme for a class of nonlinear uncertain input-output multi-agent systems is developed. A decentralized local nonlinear observer is employed for estimating the state variables of each agent, and a distributed local FTC component is designed for each agent in the distributed system by utilizing local output measurements and state estimation information exchanged between neighboring agents. The time-varying leader’s command is only communicated to a small portion of follower agents through directed links, and each follower agent exchanges measurement information only with its neighbors through a bidirectional but asymmetric topology. Under certain assumptions, the closed-loop stability and leader-follower consensus properties of the distributed system are rigorously established.
机译：本文针对一类非线性不确定输入输出多智能体系统，提出了一种分布式自适应容错控制（FTC）方案。使用分散的局部非线性观测器来估计每个代理的状态变量，并通过利用本地输出测量值和在相邻代理之间交换的状态估计信息为分布式系统中的每个代理设计分布式本地FTC组件。随时间变化的领导者命令仅通过定向链接传递给一小部分跟随者代理，并且每个跟随者代理仅通过双向但非对称的拓扑结构与其邻居交换测量信息。在某些假设下，严格建立了分布式系统的闭环稳定性和领导者共识特征。

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