Integrated design of fault estimation and fault-tolerant control for linear multi-agent systems using relative outputs

摘要

In this paper, the problem of fault estimation and fault-tolerant control is investigated for linear multi-agent systems with mismatched uncertainty. Different from the existing results, an integrated design method is proposed to solve the problem of bi-directional uncertainty which arises from the combination of fault estimation and control. In order to realize a distributed integrated design, spectral decomposition and coordinate transformation are introduced so that the leader-following multi-agent systems can be decoupled into independent observable subsystems. For this new subsystem, an unknown input observer and a fault-tolerant controller are constructed by only using the relative outputs, and an integrated design condition is given in terms of linear matrix inequality. Finally, two examples are utilized to illustrate the validity of this method. (C) 2018 Elsevier B.V. All rights reserved.