Fault-Tolerant Time-Varying Formation Tracking Control for Multi-Agent Systems With Actuator Faults and Switching Topologies

被引：2

作者：

Wu, Xiaojing ^{[1
]}

Guo, Zhenan ^{[1
]}

Liu, Xinyue ^{[1
]}

Xie, Tian ^{[1
]}

机构：

[1] Hebei Univ Sci & Technol, Sch Elect Engn, Shijiazhuang 050018, Hebei, Peoples R China

来源：

IEEE ACCESS | 2023年 / 11卷

基金：

中国国家自然科学基金;

关键词：

Actuators; Topology; Switches; Formation control; Multi-agent systems; Control systems; Fault tolerant systems; Time-varying systems; Fault-tolerant control; time-varying formation tracking; actuator fault; switching topology; multi-agent systems; COOPERATIVE CONTROL; CONSENSUS; NETWORKS; VEHICLES; DESIGN;

D O I：

10.1109/ACCESS.2023.3333660

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, the fault-tolerant time-varying formation tracking control problem for high-order linear multi-agent systems with multiple leaders is studied in the case of actuator faults and switching topologies, where the control inputs of the leaders are unknown. Followers form a predefined formation while tracking the convex combination of the states of the multiple leaders. Based on the adjacent relative information of agents, a fault-tolerant time-varying formation control protocol is constructed to compensate for the bias fault, loss of effectiveness fault, and unknown control inputs of the leaders. The feasible conditions of formation are given. In addition, a new algorithm is proposed to determine the parameters of the formation control protocol. The stability of the closed-loop system is proved based on Lyapunov theory. Finally, the effectiveness of the theory is verified by simulations.

引用

页码：131140 / 131151

页数：12

共 39 条

[31] Time-varying formation control for multi-agent systems under directed topology base on gain re-adaptation fault-tolerant compensation approach [J].

Wang, Haiqing ;

Dong, Jiuxiang .

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2022, 32 (06) :3909-3922

[32] Adaptive output-feedback time-varying formation tracking control for multi-agent systems with switching directed networks [J].

Wang, Rui .

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2020, 357 (01) :551-568

[33] Optimal Formation of Multirobot Systems Based on a Recurrent Neural Network [J].

Wang, Yunpeng ;

Cheng, Long ;

Hou, Zeng-Guang ;

Yu, Junzhi ;

Tan, Min .

IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, 2016, 27 (02) :322-333

[34] Leader-follower consensus of multi-agent systems in directed networks with actuator faults [J].

Wu, Yanming ;

Wang, Zhanshan ;

Ding, Sanbo ;

Zhang, Huaguang .

NEUROCOMPUTING, 2018, 275 :1177-1185

[35] Energy-Constraint Formation for Multiagent Systems With Switching Interaction Topologies [J].

Xi, Jianxiang ;

Wang, Le ;

Zheng, Jianfei ;

Yang, Xiaojun .

IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS, 2020, 67 (07) :2442-2454

[36] Finite-time formation control for multi-agent systems [J].

Xiao, Feng ;

Wang, Long ;

Chen, Jie ;

Gao, Yanping .

AUTOMATICA, 2009, 45 (11) :2605-2611

[37] Adaptive Fuzzy Fixed-Time Formation-Containment Control for Euler-Lagrange Systems [J].

Xiao, Wenbin ;

Ma, Hui ;

Zhou, Lan ;

Li, Hongyi .

IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2023, 31 (10) :3700-3709

[38] Time-varying formation tracking control for high-order nonlinear multi-agent systems in fixed-time framework [J].

Yang, Haijiao ;

Ye, Dan .

APPLIED MATHEMATICS AND COMPUTATION, 2020, 377

[39] Distributed Formation Control of Nonholonomic Vehicles Subject to Velocity Constraints [J].

Yu, Xiao ;

Liu, Lu .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2016, 63 (02) :1289-1298

← 1 2 3 4 →