Human-in-the-Loop Consensus Control for Nonlinear Multi-Agent Systems With Actuator Faults  

作　　者：Guohuai Lin Hongyi Li Hui Ma Deyin Yao Renquan Lu 

机构地区：[1]School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control,Guangdong University of Technology,Guangzhou 510006,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2022年第1期111-122,共12页自动化学报（英文版）

基　　金：This work was partially supported by the National Natural Science Foundation of China(62033003,62003098);the Local Innovative and Research Teams Project of Guangdong Special Support Program(2019BT02X353);the China Postdoctoral Science Foundation(2019M662813,2020T130124).

摘　　要：This paper considers the human-in-the-loop leader-following consensus control problem of multi-agent systems(MASs)with unknown matched nonlinear functions and actuator faults.It is assumed that a human operator controls the MASs via sending the command signal to a non-autonomous leader which generates the desired trajectory.Moreover,the leader’s input is nonzero and not available to all followers.By using neural networks and fault estimators to approximate unknown nonlinear dynamics and identify the actuator faults,respectively,the neighborhood observer-based neural fault-tolerant controller with dynamic coupling gains is designed.It is proved that the state of each follower can synchronize with the leader’s state under a directed graph and all signals in the closed-loop system are guaranteed to be cooperatively uniformly ultimately bounded.Finally,simulation results are presented for verifying the effectiveness of the proposed control method.

关 键 词：Actuator faults distributed control human-in-the-loop neighborhood observer nonlinear multi-agent systems(MASs) 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]