Fault-tolerant consensus control for time-delay multi-agent systems with model uncertainties

Abstract

Abstract: In this paper, the fault-tolerant consensus control for model-uncertain multi-agent systems with time delays is studied in the case of possible failure of any agent and the external finite energy disturbance. Firstly, the fault-tolerant consensus control of multi-agent systems with time-delay model uncertainty is transformed into an asymptotic stability problem of closed-loop fault systems by matrix transformation method. Then, Lyapunov stability theory was used to design a fault-tolerant consensus controller for possible actuator faults. On this basis, the sufficient condition for fault-tolerant consistency in model uncertain delayed multi-agent systems subject to directed communication topologies and limited external energy disturbances is deduced, based on linear matrix inequality (LMI). These conditions ensure the convergence of position and velocity state information towards consensus. Finally, a leaderless system model consisting of six agents is used to verify the feasibility and effectiveness of the proposed method.

Key words: time delay, model uncertainty, multi-agent system, fault-tolerant consensus controller

CLC Number:

TP273

WANG Jun, YANG Jia-qi. Fault-tolerant consensus control for time-delay multi-agent systems with model uncertainties[J]. Journal of Lanzhou University of Technology, 2024, 50(6): 69-75.

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URL: https://journal.lut.edu.cn/EN/

https://journal.lut.edu.cn/EN/Y2024/V50/I6/69

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