Adaptive Fault-Tolerant Control-Based Real-Time Reachable Set Synthesis of Heterogeneous Nonlinear Singular Multiagent Systems With Uncertain Parameters

This paper concentrates on the real-time reachable set synthesis of heterogeneous nonlinear singular multiagent systems with uncertain parameters based on adaptive fault-tolerant control under non-zero initial conditions. A proportional and differential-like adaptive fault-tolerant control protocol is designed to respond to this problem, and a closed-loop singular multiagent system is built through this control protocol. Then a Lyapunov function suitable for the system is constructed, and it is proved that when there is a fault in the system, the error system will ultimately converge to the neighborhood near the origin. In addition, using the free-weighting matrices strategy and particular decoupling method to solve the linear matrix inequalities, the real-time reachable set boundary of the closed-loop singular multiagent control system and the gains of the designed controller are obtained. Finally, the efficacy of the presented strategy is demonstrated by practical examples of multiagent support systems and the DC motor models.
Note to Practitioners
—Because of the complex and changeable characteristics of a modern engineering system, it can not be operated by a single module, so the research of multiagent systems has become the mainstream trend of modern system research. In the actual project, the safety problem must be addressed. Therefore, our main research content is how to make the machine or system model run within a more accurate security range. In practical applications, some random and unpredictable events often occur, which may lead to failures in the system and make the system unable to operate properly. These behaviors may lead to unknown security problems. When we study security issues, we need to consider the occurrence of this situation. Therefore, when a fault occurs in the system, ensuring the system’s normal operation within the safe range is one of the key topics that need to be studied. Unlike ordinary systems, singular systems can more widely describe the actual system model. Therefore, the study of singular systems is indispensable in actual engineering system research. Based on the above analysis, the real-time reachable set synthesis of heterogeneous nonlinear singular multiagent systems with faults is studied, and the consensus protocol of the proportional and differential-like is designed.