Distributed Adaptive Fault-Tolerant Control of Nonlinear Uncertain Multi-Agent Systems

Khalili, Mohsen, Ph.D., Engineering Ph.D. Program, Wright State University, 2017. Distributed Adaptive Fault-Tolerant Control of Nonlinear Uncertain Multi-Agent Systems. The research on distributed multi-agent systems has received increasing attention due to its broad applications in numerous areas, such as unmanned ground and aerial vehicles, smart grid, sensor networks, etc. Since such distributed multi-agent systems need to operate reliably at all time, despite the possible occurrence of faulty behaviors in some agents, the development of faulttolerant control schemes is a crucial step in achieving reliable and safe operations. The objective of this research is to develop a distributed adaptive fault-tolerant control (FTC) scheme for nonlinear uncertain multi-agent systems under intercommunication graphs with asymmetric weights. Under suitable assumptions, the closed-loop system’s stability and leader-follower cooperative tracking properties are rigorously established. First, a distributed adaptive fault-tolerant control method for nonlinear uncertain first-order multi-agent systems is developed. Second, this distributed FTC method is extended to nonlinear uncertain second-order multi-agent systems. Next, adaptive-approximation-based FTC algorithms are developed for two cases of high-order multiagent systems, i.e., with full-state measurement and with only limited output measurement, respectively. Finally, the distributed adaptive fault-tolerant formation tracking algorithms for firstorder multi-agent systems are implemented and demonstrated using Wright State’s real-time indoor autonomous robots test environment. The experimental formation tracking results illustrate the effectiveness of the proposed methods.

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