Distributed Fault-tolerant Tracking Control for Multi-agent System in the Environments with Obstacles

被引：0

作者：

Huang Jie ^{[1
]}

Zhou Ning ^{[2
]}

Chen Hongzhi ^{[3
]}

机构：

[1] Univ Groningen, Fac Math & Nat Sci, NL-9747 AG Groningen, Netherlands

[2] Fujian Agr & Forestry Univ, Coll Comp & Informat Sci, Inst Cloud Comp & Big Data Smart Agr & Forestry, Fuzhou 350002, Peoples R China

[3] China Iron & Steel Res Inst Grp, State Key Lab Hybrid Proc Ind Automat Syst & Equi, Beijing 100071, Peoples R China

来源：

PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016 | 2016年

基金：

欧洲研究理事会;

关键词：

Distributed Control; Obstacle Avoidance; Fault-tolerant Control; Finite-time Control; Modeling Uncertainties; EULER-LAGRANGE SYSTEMS; ATTITUDE COORDINATION CONTROL; ACTUATOR FAILURES; CONTROL DESIGN; SPACECRAFT; INFORMATION;

D O I：

暂无

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 problem of collision-free coordination tracking control for multi-agent system under modeling uncertainties, actuator faults and disturbances. By syncretizing the Null-Space-based Behavioral (NSB) control and finite-time control method, a novel reference velocity signal is predesigned to achieve finite-time obstacle avoidance and coordination tracking. Then a set of finite-time coordination control laws are presented to guarantee all the agents to track a dynamic target while avoiding obstacles/collisions. Finally, numerical simulation is presented to demonstrate the efficacy of the control strategy.

引用

页码：8072 / 8077

页数：6

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