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Decentralized Fault Estimation and Distributed Fault-tolerant Tracking Control Co-design for Sensor Faulty Multi-agent Systems with Bidirectional Couplings

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  • Control Theory and Applications
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Abstract

This study proposes a co-design framework of decentralized fault estimation and distributed fault-tolerant tracking control schemes of Lipschitz nonlinear multi-agent systems with external disturbances and unpredicted sensor faults. To begin with, the sensor fault is actively hidden in the extended state through augmented transformation, and the decentralized unknown input observer based on extended dynamics is applied in synchronously estimating system state and sensor fault. Then, the updated link-based fault-tolerant tracking control protocol is proposed by virtue of the estimated information from estimation dynamics and the relative output signal from neighboring agents in a distributed fashion. The proposed co-designed algorithm guarantees the state consensus tracking property and overcomes the bi-directional couplings between the estimation and tolerance systems. Simulation example of multi-machine power systems verifies the effectiveness of the proposed co-designed algorithm.

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Authors and Affiliations

  1. School of Mechatronic Engineering and Automation and the School of Artificial Intelligence, Shanghai University, Shanghai, 200444, China

    Chun Liu

  2. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China

    Zhengyan Yu

  3. School of Engineering and Computer Science, University of Hull, Hull, HU6 7RX, UK

    Ron J. Patton

Authors
  1. Chun Liu
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  2. Zhengyan Yu
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Correspondence to Chun Liu.

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This work was supported by the National Key R&D Program of China (2018AAA0102804); National Natural Science Foundation of China (62103250); Shanghai Sailing Program (21YF1414000).

Chun Liu received his Ph.D. degree in control theory and engineering from the Nanjing University of Aeronautics and Astronautics, Nanjing, China, in 2020. He is currently a Lecturer with the School of Mechatronic Engineering and Automation and also with School of Artificial Intelligence, Shanghai University, Shanghai, China. His research interests include intelligent fault diagnosis and fault tolerant control of multi-agent systems and their applications to multi-UAVs and multi-USVs.

Zhengyan Yu received his B.S. degree in electrical engineering and automation from the Huaqiao University, Xiamen, China, in 2016. He is currently pursuing his M.S. degree in control theory and engineering with the School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China. His research interests include distributed fault-tolerant control for multi-agent systems.

Ron J. Patton received his B.Eng., M.Eng., and Ph.D. degrees in electrical and electronic engineering and control systems from the University of Sheffield, Sheffield, UK, in 1971, 1974, and 1980, respectively. He is currently the Chair of Control and Intelligent Systems Engineering, Hull University, Hull, UK. He has made a substantial contribution in the field of modeling and design of robust methods for fault detection and isolation and fault tolerant control (FTC) in dynamic systems as the author of 376 papers, including 138 journal papers and six books. His research interests include robust, multiple-model and decentralized control strategies for FTC systems and he has a growing interest in FTC methods for renewable energy. He is the Senior Member of AIAA and the Fellow of the Institute of Measurement and Control.

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Liu, C., Yu, Z. & Patton, R.J. Decentralized Fault Estimation and Distributed Fault-tolerant Tracking Control Co-design for Sensor Faulty Multi-agent Systems with Bidirectional Couplings. Int. J. Control Autom. Syst. 21, 810–819 (2023). https://doi.org/10.1007/s12555-021-1038-4

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