Formation consensus for discrete-time heterogeneous multi-agent systems with link failures and actuator/sensor faults

• Published in: Journal of the Franklin Institute 2019-08, Vol.356 (12), p.6547-6570
• Main Authors: Yan, Bing, Wu, Chengfu, Shi, Peng
• Format: Article
• Language: English
• Subjects: Actuators; Adaptive control; Algorithms; Computer simulation; Control systems; Discrete element method; Discrete time systems; Failure; Fault tolerance; Graph theory; Linear matrix inequalities; Linearization; Matrix methods; Multiagent systems; Order parameters; Robust control; Sensors; Topology
• ISSN: 0016-0032; 1879-2693; 0016-0032
• DOI: 10.1016/j.jfranklin.2019.03.028

•Proposing a universal model equivalent method to deal with discrete-time heterogeneous MASs, which could be arbitrary order systems with different dynamics.•Developing a control protocol for heterogeneous multi-agent systems to achieve formation consensus with random network failures under directed fixed and switching topologies.•Deriving a fault-tolerant formation control strategy based on adaptive fault compensation to tolerant multiple actuator/sensor faults. In this paper, a distributed control protocol is presented for discrete-time heterogeneous multi-agent systems in order to achieve formation consensus against link failures and actuator/sensor faults under fixed and switching topologies. A model equivalent method is proposed to deal with the heterogeneous system consists of arbitrary order systems with different parameters. Based on graph theory and Lyapunov theory, stability conditions to solve formation consensus problem are developed for the underlying heterogeneous systems with communication link failures. In order to tolerate actuator/sensor faults, a distributed adaptive controller is proposed based on fault compensation. The desired control is designed by linear matrix inequality approach together with cone complementarity linearisation algorithm. After applying the new control scheme to heterogeneous systems under the directed topologies with link failures and faults, the resulting closed-loop heterogeneous system is validated to be stable. The effectiveness of the new formation consensus control strategy and its robustness are verified by simulations.