J Shanghai Jiaotong Univ Sci

Journal of Shanghai Jiaotong University(Science) >

2024 , Vol. 29 >Issue 4: 613 - 624

DOI: https://doi.org/10.1007/s12204-024-2716-1

Special Issue on Multi-Agent Collaborative Perception and Control

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

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  • (Engineering Research Center of Internet of Things Technology Applications of the Ministry of Education, School of Internet of Things Engineering, Jiangnan University, Wuxi 214122, Jiangsu, China)

Accepted date: 2023-08-22

  Online published: 2024-07-28

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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 dy; namical consensus, network topology connectivity recovery

Cite this article

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]. Journal of Shanghai Jiaotong University(Science), 2024 , 29(4) : 613 -624 . DOI: 10.1007/s12204-024-2716-1

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