Adaptive Reliable Coordination Control for Linear Agent Networks With Intermittent Communication Constraints

This paper studies the adaptive reliable coordination control problem for a class of multiagent systems under time-varying topology in the presence of intermittent communication constraints and actuator faults. The underlying communication network is assumed to switch among finite undirected connected graphs. A new fault-tolerant consensus tracking control scheme is presented by utilizing the distributed adaptive technique. In contrast to the existing results on the cooperative tracking control problem against intermittent communications, no assumption on zero input of the leader is made in the discussions. By introducing the estimates to account for the unknown faulty efficiency factors and the bounds of the leader's control input signal, the local controller parameters are updated in individual nodes. Also, a novel topology-allocation-dependent average dwell time approach is proposed to deal with network switching jumps effectively. By combining multiple Lyapunov functions method and algebraic graph theory, it is shown that the global tracking errors are uniformly ultimately bounded even in the cases of intermittent communication constraints and actuator failures. Finally, the simulation study demonstrates the effectiveness of the proposed reliable coordination control strategy.