Fault-Tolerant Dynamical Consensus of Double-Integrator Multi-Agent Systems in the Presence of Asynchronous Self-Sensing Function Failures  

作　　者：WU Zhihai XIE Linbo 吴治海;谢林柏(Engineering Research Center of Internet of Things Technology Applications of the Ministry of Education,School of Internet of Things Engineering,Jiangnan University,Wuxi,Jiangsu,214122,China)

机构地区：[1]Engineering Research Center of Internet of Things Technology Applications of the Ministry of Education,School of Internet of Things Engineering,Jiangnan University,Wuxi,Jiangsu,214122,China

出　　处：《Journal of Shanghai Jiaotong university(Science)》2024年第4期613-624,共12页上海交通大学学报（英文版）

基　　金：National Natural Science Foundation of China(No.61876073);Fundamental Research Funds for the Central Universities of China(No.JUSRP21920)。

摘　　要：Double-integrator multi-agent systems(MASs)might not achieve dynamical consensus,even if only partial agents suffer from self-sensing function failures(SSFFs).SSFFs might be asynchronous in real engineering application.The existing fault-tolerant dynamical consensus protocol suitable for synchronous SSFFs cannot be directly used to tackle fault-tolerant dynamical consensus of double-integrator MASs with partial agents subject to asynchronous SSFFs.Motivated by these facts,this paper explores a new fault-tolerant dynamical consensus protocol suitable for asynchronous SSFFs.First,multi-hop communication together with the idea of treating asynchronous SSFFs as multiple piecewise synchronous SSFFs is used for recovering the connectivity of network topology among all normal agents.Second,a fault-tolerant dynamical consensus protocol is designed for double-integrator MASs by utilizing the history information of an agent subject to SSFF for computing its own state information at the instants when its minimum-hop normal neighbor set changes.Then,it is theoretically proved that if the strategy of network topology connectivity recovery and the fault-tolerant dynamical consensus protocol with proper time-varying gains are used simultaneously,double-integrator MASs with all normal agents and all agents subject to SSFFs can reach dynamical consensus.Finally,comparison numerical simulations are given to illustrate the effectiveness of the theoretical results.

关 键 词：double-integrator multi-agent systems asynchronous self-sensing function failures fault-tolerant dynamical consensus network topology connectivity recovery 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]