Fully Distributed Active Complementary Fault-tolerant Optimal Control for Nonlinear Multi-agent Systems based on ADP Technique
2024 7th International Symposium on Autonomous Systems (ISAS)(2024)
Abstract
In this paper, a fully distributed active complementary fault-tolerant coordination control problem is addressed for nonlinear multi-agent systems (MASs) under multiplicative actuator faults over undirected graph. To estimated the multiplicative actuator faults, an adaptive fault estimate scheme is constructed, based on which, a new system dynamics is built. Moreover, a cost function is introduced to obtain the active optimal complementary falut-tolerant control through adaptive dynamic programming (ADP). Finally, a simulation result is unfolded to demonstrate the effectiveness and performance of our scheme.
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Key words
Active complementary control,Fault-tolerant control (FTC),Multi-agent systems (MASs),Adaptive dynamic programming (ADP)
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