Fault-Tolerant Dynamical Consensus of Double-Integrator Multi-Agent Systems in the Presence of Asynchronous Self-Sensing Function Failures

doi:10.1007/s12204-024-2716-1

Abstract

Abstract: Double-integrator multi-agent systems (MASs) might not achieve dynamical consensus, even if only partial agents suffer from self-sensing function failures (SSFFs). SSFFs might be asynchronous in real engineering application. The existing fault-tolerant dynamical consensus protocol suitable for synchronous SSFFs cannot be directly used to tackle fault-tolerant dynamical consensus of double-integrator MASs with partial agents subject to asynchronous SSFFs. Motivated by these facts, this paper explores a new fault-tolerant dynamical consensus protocol suitable for asynchronous SSFFs. First, multi-hop communication together with the idea of treating asynchronous SSFFs as multiple piecewise synchronous SSFFs is used for recovering the connectivity of network topology among all normal agents. Second, a fault-tolerant dynamical consensus protocol is designed for doubleintegrator MASs by utilizing the history information of an agent subject to SSFF for computing its own state information at the instants when its minimum-hop normal neighbor set changes. Then, it is theoretically proved that if the strategy of network topology connectivity recovery and the fault-tolerant dynamical consensus protocol with proper time-varying gains are used simultaneously, double-integrator MASs with all normal agents and all agents subject to SSFFs can reach dynamical consensus. Finally, comparison numerical simulations are given to illustrate the effectiveness of the theoretical results.

Key words: double-integrator multi-agent systems, asynchronous self-sensing function failures, fault-tolerant dynamical consensus, network topology connectivity recovery

摘要： 即使仅有部分智能体遭受自我感知功能失效，双积分多智能体系统也可能无法实现动态一致性；在实际应用中，自我感知功能失效可能是异步的；已经存在的适用于同步自我感知功能失效的容错动态一致性协议不能直接应用到异步自我感知功能失效下的动态一致性当中。考虑到这些事实，本文试图设计一个新的适用于异步自我感知功能失效的容错动态一致性协议。首先，使用多跳通信技术及异步自我感知功能失效分解思想来恢复正常智能体之间网络拓扑的连通性。接着，通过使用失效智能体的历史信息来计算它在其最短跳数正常邻集发生改变的时刻的状态信息，提出了一个新的容错动态一致性协议。然后，理论上证得：使用所提的网络拓扑连通性恢复策略以及带有恰当时变增益的容错动态一致性协议，包含所有正常智能体与所有失效智能体的双积分多智能体系统能够实现动态一致性。最后，对比数值仿真验证了理论结果的有效性。

关键词: 双积分多智能体系统，异步自我感知功能失效，容错动态一致性，网络拓扑连通性恢复

CLC Number:

TP273

WU Zhihai^∗ (吴治海), XIE Linbo (谢林柏). Fault-Tolerant Dynamical Consensus of Double-Integrator Multi-Agent Systems in the Presence of Asynchronous Self-Sensing Function Failures[J]. J Shanghai Jiaotong Univ Sci, 2024, 29(4): 613-624.

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