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Distributed Adaptive Fault-Tolerant Control of Nonlinear Uncertain Multi-Agent Systems

Khalili, Mohsen
http://rave.ohiolink.edu/etdc/view?acc_num=wright1503622016617833

Abstract Details

2017, Doctor of Philosophy (PhD), Wright State University, Engineering PhD.
The research on distributed multi-agent systems has received increasing attention due to its broad applications in numerous areas, such as unmanned ground and aerial vehicles, smart grid, sensor networks, etc. Since such distributed multi-agent systems need to operate reliably at all time, despite the possible occurrence of faulty behaviors in some agents, the development of fault-tolerant control schemes is a crucial step in achieving reliable and safe operations. The objective of this research is to develop a distributed adaptive fault-tolerant control (FTC) scheme for nonlinear uncertain multi-agent systems under intercommunication graphs with asymmetric weights. Under suitable assumptions, the closed-loop system's stability and leader-follower cooperative tracking properties are rigorously established. First, a distributed adaptive fault-tolerant control method for nonlinear uncertain first-order multi-agent systems is developed. Second, this distributed FTC method is extended to nonlinear uncertain second-order multi-agent systems. Next, adaptive-approximation-based FTC algorithms are developed for two cases of high-order multi-agent systems, i.e., with full-state measurement and with only limited output measurement, respectively. Finally, the distributed adaptive fault-tolerant formation tracking algorithms for first-order multi-agent systems are implemented and demonstrated using Wright State's real-time indoor autonomous robots test environment. The experimental formation tracking results illustrate the effectiveness of the proposed methods.
Xiaodong Zhang, Ph.D. (Advisor)
Kuldip Rattan, Ph.D. (Committee Member)
Pradeep Misra, Ph.D. (Committee Member)
Yongcan Cao, Ph.D. (Committee Member)
Raul Ordonez, Ph.D. (Committee Member)
Mark Mears, Ph.D. (Committee Member)
149 p.
Electrical Engineering; Engineering
Fault-Tolerant Control; Adaptive Control; Multi-Agent Systems; Nonlinear Uncertain Systems; Formation Control; Learning Systems; Cooperative Tracking; Leader-Follower Consensus; Asymmetric Communication Graphs; Fault Diagnosis; Mobile Robots

Recommended Citations

Citations

  • Khalili, M. (2017). Distributed Adaptive Fault-Tolerant Control of Nonlinear Uncertain Multi-Agent Systems [Doctoral dissertation, Wright State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=wright1503622016617833

    APA Style (7th edition)

  • Khalili, Mohsen. Distributed Adaptive Fault-Tolerant Control of Nonlinear Uncertain Multi-Agent Systems. 2017. Wright State University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=wright1503622016617833.

    MLA Style (8th edition)

  • Khalili, Mohsen. "Distributed Adaptive Fault-Tolerant Control of Nonlinear Uncertain Multi-Agent Systems." Doctoral dissertation, Wright State University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=wright1503622016617833

    Chicago Manual of Style (17th edition)

wright1503622016617833
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© 2017, all rights reserved.
This open access ETD is published by Wright State University and OhioLINK.