Distributed Observer-Based Optimal Cooperative Output Regulation With Control Effectiveness Faults

Partial access to the reference state is one of the most practical obstacles in cooperative control. This brief studies a control effectiveness fault-tolerant cooperative output regulation problem with the limited measurement of the reference system. To achieve reference state estimation, a novel Luenberger-type distributed observer is designed in collaboration with neighbors. With the estimated state serving as the reference generator, adaptive dynamic programming is proposed to solve the decentralized output regulation in an optimal manner for the nominal system. Based on the optimal control protocol for the nominal system, a robust dynamical control law is further designed to eliminate the negative effects brought by the control faults, which guarantees that the tracking error converges to zero. A multi-RLC circuit system is used as an example to verify the effectiveness of the proposed method.