Distributed differential game for nonlinear multiagent systems with unknown actuator faults and disturbance

摘要

In this paper, a distributed optimal fault-tolerant control strategy is designed for multi-agent systems (MASs) with actuator faults and disturbance, which is derived based on differential game theory and adaptive dynamic programming (ADP) technique. The proposed controller is divided into two parts: (1) distributed differential game control policy of the fault-free systems and (2) fault compensator. The presented controller, not only guarantees the multi-agent system is uniformly ultimately bounded (UUB), but also minimizes the cooperative performance index function. The effectiveness is demonstrated by a simulation.