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Hierarchical-Structure-Based Fault Estimation and Fault-Tolerant Control for Multiagent Systems

Liu, Chun; Jiang, Bin; Patton, Ron J.; Zhang, Ke


Chun Liu

Bin Jiang

Ke Zhang


This paper proposes a hierarchical-structure-based fault estimation and fault-tolerant control design with bidirectional interactions for nonlinear multiagent systems with actuator faults. The hierarchical structure consists of distributed multiagent system hierarchy, undirected topology hierarchy, decentralized fault estimation hierarchy, and distributed fault-tolerant control hierarchy. The states and faults of the system are estimated simultaneously by merging the unknown input observer in a decentralized fashion. The distributed-constant-gain-based and node-based fault-tolerant control schemes are developed to guarantee the asymptotic stability and H-infinity performance of multiagent systems, respectively, based on the estimated information in the fault estimation hierarchy and the relative output information from neighbors. Two simulation cases validate the efficiency of the proposed hierarchical structure control algorithm.


Liu, C., Jiang, B., Patton, R. J., & Zhang, K. (2019). Hierarchical-Structure-Based Fault Estimation and Fault-Tolerant Control for Multiagent Systems. IEEE Transactions on Control of Network Systems, 6(2), 586-597.

Journal Article Type Article
Acceptance Date Jul 14, 2018
Online Publication Date Jul 26, 2018
Publication Date 2019-06
Deposit Date Feb 25, 2020
Publicly Available Date Feb 26, 2020
Journal IEEE Transactions on Control of Network Systems
Electronic ISSN 2372-2533
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Volume 6
Issue 2
Pages 586-597
Keywords Control and Systems Engineering; Signal Processing; Computer Networks and Communications; Control and Optimization
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