|Distributed Fault Tolerant Control for Multi-agent Systems with Complex-weighted Directed Communication Topology subject to Actuator Faults
Ali Ghasemi*, Javad Askari, and Mohammad Bagher Menhaj
International Journal of Control, Automation, and Systems, vol. 17, no. 2, pp.415-424, 2019
Abstract : "In this paper, under the complex-weighted directed communication topology, the problem of distributed
fault tolerant control (FTC) for a class of second-order multi-agent systems (MAS) in the presence of actuator faults
is studied. The faults can simultaneously occur in more than one agent. First, a real representation of the secondorder
dynamic agent with the complex weighted graph is proposed. Second, based on the proposed representation,
distributed finite-time convergent observer is proposed for each agent to estimate the state and fault in a finite time.
Then, using the fault information obtained online, an adaptive FTC protocol is proposed to compensate for the
failure effects and to enable all the agents to achieve the control goal. Also, we show that the closed-loop system
can be guaranteed to be asymptotically stable in the presence of faults. Finally, an illustration example is given to
demonstrate the effectiveness of the proposed scheme."
Actuator fault, complex Laplacian, fault tolerant control (FTC), multi-agent systems (MAS).