In this paper,a fault-tolerant control strategy combining fixed-time state feedback control and output feedback control is designed to realize the problem of het-erogeneous fault multi-agent system fault-tolerant output consensus in the presence of external finite energy interference.Firstly,an adaptive sliding mode observer is proposed to obtain the fault reconstruction value of the actuator under the condition of overcoming the external limited energy interference.Secondly,for the followers who cannot obtain the leader state,a distributed fixed-time observer is designed to realize that each follower can estimate the leader state within a fixed time.Then,the fault reconstruction value is introduced into the distributed fault-tolerant output consensus control protocol.In addition,Lyapunov stability theory is used to solve the fault-tolerant output consensus control gain.Finally,a leader and four followers con-duct simulation experiments on the fixed-time fault-tolerant output consensus control of heterogeneous multi-agent systems,which verifies the effectiveness and feasibility of the proposed method.
关键词
异构多智能体系统/自适应滑模观测器/分布式固定时间观测器/输出一致性控制
Key words
Heterogeneous multi-agent system/adaptive sliding mode observer/dis-tributed fixed-time observer/output consensus control
万方数据