Distributed Robust Fault Estimation for Multiagent Systems Based on Transition Variable Estimator

Abstract

This article investigates the distributed robust fault estimation for a class of multiagent systems with actuator faults and nonlinear uncertainties. To estimate the actuator faults and system states simultaneously, a novel transition variable estimator is constructed. Compared with existing similar results, the fault estimator existing condition is not necessary for designing the transition variable estimator. Furthermore, the bounds of the faults and their derivatives can be unknown in designing the estimator for each agent in the system. The parameters of the estimator are calculated by using Schur decomposition and linear matrix inequality algorithm. Finally, the performance of the proposed method is demonstrated through experiments of wheeled mobile robots.