Distributed fault-tolerant time-varying formation control for high-order linear multi-agent systems with actuator failures

被引：58

作者：

Hua, Yongzhao ^{[1
]}

Dong, Xiwang ^{[1
]}

Li, Qingdong ^{[1
]}

Ren, Zhang ^{[1
]}

机构：

[1] Beihang Univ, Sch Automat Sci & Elect Engn, Sci & Technol Aircraft Control Lab, Beijing 100191, Peoples R China

来源：

ISA TRANSACTIONS | 2017年 / 71卷

关键词：

Time-varying formation; Fault-tolerant control; Adaptive control; Multi-agent systems; Actuator failures; NONHOLONOMIC MOBILE ROBOTS; COOPERATIVE CONTROL; TRACKING CONTROL; CONSENSUS; SYNCHRONIZATION; NETWORKS; AGENTS;

D O I：

10.1016/j.isatra.2017.06.018

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates the fault-tolerant time-varying formation control problems for high-order linear multi-agent systems in the presence of actuator failures. Firstly, a fully distributed formation control protocol is presented to compensate for the influences of both bias fault and loss of effectiveness fault. Using the adaptive online updating strategies, no global knowledge about the communication topology is required and the bounds of actuator failures can be unknown. Then an algorithm is proposed to determine the control parameters of the fault-tolerant formation protocol, where the time-varying formation feasible conditions and an approach to expand the feasible formation set are given. Furthermore, the stability of the proposed algorithm is proven based on the Lyapunov-like theory. Finally, two simulation examples are given to demonstrate the effectiveness of the theoretical results. (C) 2017 ISA. Published by Elsevier Ltd. All rights reserved.

引用

页码：40 / 50

页数：11

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