摘要
This paper investigates the distributed fault-tolerant consensus tracking problem of nonlinear multi-agent systems with general incipient and abrupt time-varying actuator faults under cyber-attacks.First,a decentralized unknown input observer is established to estimate relative states and actuator faults.Second,the estimated and output neighboring information is combined with distributed fault-tolerant consensus tracking controllers.Criteria of reaching leader-following exponential consensus tracking of multi-agent systems under both connectivity-maintained and connectivity-mixed attacks are derived with average dwelling time,attack frequency,and attack activation rate technique,respectively.Simulation example verifies the effectiveness of the fault-tolerant consensus tracking algorithm.
基金
supported by the National Key R&D Program of China(2018AAA0102804)
National Natural Science Foundation of China(62020106003,62103250,61773201)
Fundamental Research Funds for the Central Universities(NC2020002,NP2020103)
Shanghai Sailing Program(21YF1414000)。