Adaptive Consensus and Circuital Implementation of a Class of Faulty Multiagent Systems
IEEE Transactions on Systems, Man, and Cybernetics: Systems(2022)
摘要
This article is concerned with the robust adaptive fault-tolerant consensus control and the circuital implementation problems for a class of homogeneous multiagent systems with external disturbances and actuator faults. A robust adaptive consensus control strategy is developed to automatically eliminate the effects of actuator bias and partial loss-of-control-effectiveness faults, and simultaneously specify the
$L_{2}$
performance of systems. The achievement of exponential consensus of the closed-loop disturbed and faulty multiagent system is provided on the basis of the Lyapunov stability theory. Furthermore, a physical implementation method is developed based on circuit theory to translate the proposed adaptive consensus control strategy into analog circuits. By using a professional tool for circuit simulations, effectiveness of the developed circuits is verified via a multiagent system composed by mobile robots with two independent driving wheels.
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关键词
Actuator faults,circuital implementation,multiagent systems,robust adaptive consensus control
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