Finite-time consensus for variable-order fractional non-linear multi-agent systems under actuator faults and external disturbances

IF 2.2 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

IET Control Theory and Applications Pub Date : 2024-07-23 DOI:10.1049/cth2.12724

Ehsan Nazemorroaya, Mohsen Shafieirad, Mahnaz Hashemi

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Abstract

The present investigation aims to address the leader-following consensus issue for variable-order fractional multi-agent systems (VOFMASs) under actuator faults and unknown external disturbances. The Caputo definition for the variable-order fractional (VOF) derivative is used to model the non-linear dynamics of the leader and follower agents. Consequently, two lemmas are developed for the Caputo VOF derivative of the Lyapunov function. In the first case, it is assumed that the multi-agent system (MAS) operates without actuator faults and an adaptive controller is proposed. With the aid of the developed lemmas, assurance is provided for the finite-time bounded cooperative tracking of the VOFMAS despite the presence of unknown external disturbances. In the second case, a novel fault-tolerant controller is designed for the finite-time consensus of the MAS under two common kinds of actuator faults: loss of effectiveness fault and bias fault. Finally, the efficacy of the proposed controller is demonstrated through the presentation of results from three simulation examples.

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执行器故障和外部干扰下的变阶分数非线性多代理系统的有限时间共识

本研究旨在解决执行器故障和未知外部干扰条件下的变阶分数多代理系统（VOFMAS）的领导-跟随共识问题。变阶分数（VOF）导数的 Caputo 定义被用来模拟领导者和跟随者的非线性动力学。因此，针对 Lyapunov 函数的 Caputo VOF 导数提出了两个定理。在第一种情况下，假设多代理系统（MAS）运行时没有执行器故障，并提出了自适应控制器。借助所提出的定理，尽管存在未知的外部干扰，仍能保证 VOFMAS 的有限时间有界协同跟踪。在第二种情况下，设计了一种新型容错控制器，用于在两种常见的致动器故障（失效故障和偏置故障）下实现 MAS 的有限时间共识。最后，通过三个仿真实例的结果展示了所建议控制器的功效。

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来源期刊

IET Control Theory and Applications 工程技术-工程：电子与电气

CiteScore

5.70

自引率

7.70%

发文量

167

审稿时长

5.1 months

期刊介绍： IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods. Among the topics of interest are system modelling, identification and simulation, the analysis and design of control systems (including computer-aided design), and practical implementation. The scope encompasses technological, economic, physiological (biomedical) and other systems, including man-machine interfaces. Most of the papers published deal with original work from industrial and government laboratories and universities, but subject reviews and tutorial expositions of current methods are welcomed. Correspondence discussing published papers is also welcomed. Applications papers need not necessarily involve new theory. Papers which describe new realisations of established methods, or control techniques applied in a novel situation, or practical studies which compare various designs, would be of interest. Of particular value are theoretical papers which discuss the applicability of new work or applications which engender new theoretical applications.