Neural network-based adaptive consensus tracking control for multi-agent systems under actuator faults. Issue 8 (10th June 2016)

• Record Type: Journal Article
• Authors: Zhao, Lin; Jia, Yingmin
• Is Part Of: International journal of systems science. Volume 47:Issue 8(2016)
• Page Start: 1931
• Page End: 1942
• Publication Date: 2016-06-10
• Subjects: multi-agent systems -- consensus tracking control -- neural network (NN) -- input constraints -- actuator faults -- output feedback; System analysis -- Periodicals; 003.3
• DOI: 10.1080/00207721.2014.960906
• Languages: English
• ISSNs: 0020-7721

Abstract

Abstract : In this paper, a distributed output feedback consensus tracking control scheme is proposed for second-order multi-agent systems in the presence of uncertain nonlinear dynamics, external disturbances, input constraints, and partial loss of control effectiveness. The proposed controllers incorporate reduced-order filters to account for the unmeasured states, and the neural networks technique is implemented to approximate the uncertain nonlinear dynamics in the synthesis of control algorithms. In order to compensate the partial loss of actuator effectiveness faults, fault-tolerant parts are included in controllers. Using the Lyapunov approach and graph theory, it is proved that the controllers guarantee a group of agents that simultaneously track a common time-varying state of leader, even when the state of leader is available only to a subset of the members of a group. Simulation results are provided to demonstrate the effectiveness of the proposed consensus tracking method.