Robust adaptive fault-tolerant control for leader-follower flocking of uncertain multi-agent systems with actuator failure

被引:36
作者
Yazdani, Sahar [1 ]
Haeri, Mohammad [2 ]
机构
[1] Islamic Azad Univ, Zanjan Branch, Dept Elect Engn, Zanjan, Iran
[2] Sharif Univ Technol, Elect Engn Dept, Adv Control Syst Lab, Tehran 111554363, Iran
关键词
Flocking; Robust adaptive fault-tolerant control; Multi-agent system; Uncertainty; Actuator failure; AGENTS; CONSENSUS;
D O I
10.1016/j.isatra.2017.08.003
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 work, we study the flocking problem of multi-agent systems with uncertain dynamics subject to actuator failure and external disturbances. By considering some standard assumptions, we propose a robust adaptive fault tolerant protocol for compensating of the actuator bias fault, the partial loss of actuator effectiveness fault, the model uncertainties, and external disturbances. Under the designed protocol, velocity convergence of agents to that of virtual leader is guaranteed while the connectivity preservation of network and collision avoidance among agents are ensured as well. (C) 2017 ISA. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码:227 / 234
页数:8
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