Adaptive fault-tolerant control for a class of nonlinear multi-agent systems with multiple unknown time-varying control directions
In this paper, we investigate the consensus tracking control for a class of heterogeneous multi-agent systems with multiple unknown time-varying control directions and unknown direction actuator faults. Different from existing work, the directions of the multiple time-varying control coefficients ar...
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| Published in | Automatica (Oxford) Vol. 167; p. 111802 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Ltd
01.09.2024
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0005-1098 |
| DOI | 10.1016/j.automatica.2024.111802 |
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| Abstract | In this paper, we investigate the consensus tracking control for a class of heterogeneous multi-agent systems with multiple unknown time-varying control directions and unknown direction actuator faults. Different from existing work, the directions of the multiple time-varying control coefficients are subject to fault-induced sign-switching. To address this challenge, a series of high-order Lyapunov functions and differentiable functions are introduced to avoid non-integrable terms. Then, a novel contradiction statement and some Nussbaum functions are used to handle the summation of multiple unknown control coefficients with time-varying amplitudes and directions. Meanwhile, a novel distributed observer with quantized communication is introduced to track a reference trajectory with unknown dynamics. It is shown that all closed-loop signals are globally uniformly bounded and the tracking errors converge to residual sets that can be made arbitrarily small. Simulation results illustrate the effectiveness of the proposed scheme. |
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| AbstractList | In this paper, we investigate the consensus tracking control for a class of heterogeneous multi-agent systems with multiple unknown time-varying control directions and unknown direction actuator faults. Different from existing work, the directions of the multiple time-varying control coefficients are subject to fault-induced sign-switching. To address this challenge, a series of high-order Lyapunov functions and differentiable functions are introduced to avoid non-integrable terms. Then, a novel contradiction statement and some Nussbaum functions are used to handle the summation of multiple unknown control coefficients with time-varying amplitudes and directions. Meanwhile, a novel distributed observer with quantized communication is introduced to track a reference trajectory with unknown dynamics. It is shown that all closed-loop signals are globally uniformly bounded and the tracking errors converge to residual sets that can be made arbitrarily small. Simulation results illustrate the effectiveness of the proposed scheme. |
| ArticleNumber | 111802 |
| Author | Guo, Xiaoyu Wang, Chenliang Liu, Lu |
| Author_xml | – sequence: 1 givenname: Xiaoyu surname: Guo fullname: Guo, Xiaoyu email: xiaoyguo@cityu.edu.hk organization: Department of Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong Special Administrative Region – sequence: 2 givenname: Chenliang surname: Wang fullname: Wang, Chenliang email: wangcl@buaa.edu.cn organization: School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China – sequence: 3 givenname: Lu surname: Liu fullname: Liu, Lu email: luliu45@cityu.edu.hk organization: Department of Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong Special Administrative Region |
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| Keywords | Unknown directions Consensus tracking Adaptive control Actuator faults Multi-agent systems |
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| SubjectTerms | Actuator faults Adaptive control Consensus tracking Multi-agent systems Unknown directions |
| Title | Adaptive fault-tolerant control for a class of nonlinear multi-agent systems with multiple unknown time-varying control directions |
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