Distributed Adaptive Formation Control for Fractional-Order Multi-Agent Systems with Actuator Failures and Switching Topologies

被引：1
作者：
Li, Jing [1 ]
Yan, Zixiang [1 ]
Shi, Xingyun [1 ]
Luo, Xuqiong [1 ]
机构：
[1] Changsha Univ Sci & Technol, Sch Math & Stat, Changsha 410114, Peoples R China
来源：
FRACTAL AND FRACTIONAL | 2024年 / 8卷 / 10期
基金：
中国国家自然科学基金;
关键词：
fractional-order multi-agent systems; adaptive formation control; Lyapunov method; OBSTACLE AVOIDANCE; TIME; CONSENSUS;
D O I：
10.3390/fractalfract8100563
中图分类号：
O1 [数学];
学科分类号：
0701 ; 070101 ;
摘要：
In this paper, a class of distributed adaptive formation control problems are investigated for second-order nonlinear fractional-order multi-agent systems with actuator failures and switching topologies. To address these challenges, two adaptive coupling gains based on agents' position and velocity are incorporated into the control protocol. Using the Lyapunov method along with graph theory and matrix analysis, sufficient conditions for system stability are derived in the presence of actuator failures and switching topologies. The effectiveness of the proposed control protocol is demonstrated through numerical simulations, which show its capability to maintain stable formation control under these challenging conditions.
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页数：16
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