Adaptive consensus control for output-constrained nonlinear multi-agent systems with actuator faults |
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| Institution: | 1. School of Information Engineering, Henan University of Science and Technology, Luoyang 471023, PR China;2. Department of Automatic Control, Robotics and Fluid Technique, Faculty of Mechanical and Civil Engineering, University of Kragujevac, Kraljevo 36000, Serbia;1. School of Mathematics and Statistics, Wuhan University, Hubei 430072, China;2. Department of Electrical Engineering, City University of Hong Kong, Hong Kong, China;3. Hubei Key Laboratory of Computational Science, Wuhan University, Wuhan 430072, China |
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| Abstract: | This paper addresses the problem of leader-follower consensus fault-tolerant control for a class of nonlinear multi-agent systems with output constraints. Specifically, a new nonlinear state transformation function is proposed to deal with the asymmetric constraint on output. Moreover, by integrating backstepping and radial basis function neural network approaches, an adaptive consensus control framework is developed with a single parameter estimator, which mitigates the computation of control algorithm in comparison with conventional adaptive approximation based control techniques. Then an adaptive compensation method is proposed to eliminate the effect of actuator failure. Under the proposed control scheme, all the closed-loop signals of the systems are bounded and the consensus tracking error converges to an adjustable small neighborhood of zero. To evaluate the developed control algorithm, a group of four networked two-stage chemical reactors is used to illustrate the effectiveness of the theoretic results obtained. |
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