Distributed Adaptive Consensus Control for Multiple Simple-pendulum Network Systems with Fault Detection and Isolation

TL;DR: Distributed adaptive consensus control for multiple simple-pendulum network systems with fault detection and isolation based on multi-agent systems. The method effectively controls both before and after fault occurrence, utilizes dynamic observers for state estimation and adaptive thresholds for fault detection, and guarantees distributed tracking control without relying on global communication topologies.

Abstract: A distributed adaptive consensus tracking control method with fault detection and isolation based on multi-agent systems (MASs) is proposed for multiple simple-pendulum network systems with leader-following mode. Different from previous researches, the proposed method can provide effective control both before and after the failure or loss of partial members. Firstly, in order to detect the existence of faults, dynamic observers are designed to realize the state estimation of followers, in which the design process does not rely on other unknown inputs, this makes the design more concise than those existing results. Secondly, in order to detect fault members accurately and effectively, the adaptive threshold is designed. On this basis, a distributed adaptive consensus protocol is presented to guarantee the fully distributed tracking control for multiple simple-pendulum network systems without depending on the global communication topologies. Finally, the simulation results of multiple simple-pendulum network systems with and without fault verify the effectiveness of the proposed control method.