Time-Varying Formation Active Fault-Tolerant Predictive Control of Networked Multi-Agent Systems With Actuator Faults and Communication Constraints

Abstract

This paper addresses the time-varying formation control issue of networked multi-agent systems with actuator fault and random communication constraints. A time-varying formation active fault-tolerant predictive control scheme is proposed. First, a composite state observer is designed to jointly estimate the system state and actuator fault. Then, an active fault-tolerant predictive control algorithm is developed to generate a control prediction sequence such that actively compensating for actuator fault and random communication constraints. The design principle of control parameters is obtained by deriving the system stability condition. Finally, numerical simulations and practical experiments are carried out to verify the effectiveness and feasibility of the proposed control scheme.