Cooperative fault‐tolerant fuzzy tracking control for nonlinear multiagent systems under directed network topology via a hierarchical control scheme

2020 ◽  
Author(s):  
Shuyi Xiao ◽  
Jiuxiang Dong
Keyword(s):  
Multiagent Systems ◽  
Network Topology ◽  
Tracking Control ◽  
Fault Tolerant ◽  
Hierarchical Control ◽  
Directed Network ◽  
Control Scheme

Fault-Tolerant Formation Tracking Control for Heterogeneous Multiagent Systems with Directed Topology

2021 ◽  
Vol 01 (01) ◽  
pp. 2150001
Author(s):  
Jianye Gong ◽  
Yajie Ma ◽  
Bin Jiang ◽  
Zehui Mao
Keyword(s):  
Tracking Control ◽  
Formation Control ◽  
Control Algorithm ◽  
Fault Tolerant ◽  
Control Technique ◽  
Fault Estimation ◽  
Consensus Control ◽  
Formation Tracking ◽  
Control Scheme ◽  
Aerial Vehicle

In this paper, the adaptive fault-tolerant formation tracking control problem for a set of heterogeneous unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) systems with actuator loss of effectiveness faults is investigated. The cooperative fault-tolerant formation control strategy for UAV and UGV collaborative systems is classified into the altitude consensus control scheme for follower UAVs and the position cooperative formation control scheme for all followers. The altitude consensus control algorithm is designed by utilizing backstepping control technique to drive all UAVs to a desired predefined height. Then, based on synchronization formation error information, the position cooperative formation control algorithm is proposed for all followers to reach the expected position and perform the desired formation configuration. The adaptive fault estimation term is adopted in the designed fault-tolerant formation control algorithm to compensate for the actuator loss of effectiveness fault. Finally, a simulation example is proposed to reveal the validity of the designed cooperative formation tracking control scheme.

scholarly journals Consensus Analysis of High-Order Multiagent Systems with General Topology and Asymmetric Time-Delays

2014 ◽  
Vol 2014 ◽  
pp. 1-10
Author(s):  
Fangcui Jiang
Keyword(s):  
Multiagent Systems ◽  
Network Topology ◽  
Time Delays ◽  
Multiagent System ◽  
High Order ◽  
Directed Network ◽  
Time Varying ◽  
Consensus Analysis ◽  
Robust Consensus ◽  
Selection Of

This paper focuses on the consensus problem for high-order multiagent systems (MAS) with directed network and asymmetric time-varying time-delays. It is proved that the high-order multiagent system can reach consensus when the network topology contains a spanning tree and time-delay is bounded. The main contribution of this paper is that a Lyapunov-like design framework for the explicit selection of protocol parameters is provided. The Lyapunov-like design guarantees the robust consensus of the high-order multiagent system with respect to asymmetric time-delays and is independent of the exact knowledge of the topology when the communication linkages among agents are undirected and connected.

Cooperative Fault Tolerant Tracking Control for Multiagent Systems: An Intermediate Estimator-Based Approach

2018 ◽  
Vol 48 (10) ◽  
pp. 2972-2980 ◽  
Author(s):  
Jun-Wei Zhu ◽  
Guang-Hong Yang ◽  
Wen-An Zhang ◽  
Li Yu
Keyword(s):  
Multiagent Systems ◽  
Tracking Control ◽  
Fault Tolerant

scholarly journals Fault-Tolerant Tracking Control for a Descriptor System under an Unknown Input Disturbances

Electronics ◽  
2021 ◽  
Vol 10 (18) ◽  
pp. 2247
Author(s):  
Norbert Kukurowski ◽  
Marcin Pazera ◽  
Marcin Witczak
Keyword(s):  
Tracking Control ◽  
Fault Tolerant ◽  
Control Process ◽  
Descriptor System ◽  
Unknown Input ◽  
Laboratory System ◽  
External Disturbances ◽  
Input Disturbance ◽  
Control Scheme ◽  
Estimation Scheme

The paper proposes a fault-tolerant tracking control scheme based on a robust observer for a descriptor system. Thus, it is assumed that the described system can be simultaneously occupied by an unknown input disturbance, along with an actuator and sensor faults. Additionally, it is natural to assume that the unknown input disturbance cannot be estimated, which makes the control process more difficult. Moreover, the proposed descriptor system is also occupied by external disturbances. Thus, the robust stability of the proposed control and estimation scheme was guaranteed by using H∞ performance. Consequently, the DC servo-motor laboratory system was used to confirm the correctness and effectiveness of the proposed fault-tolerant tracking control scheme.

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