Formation Tracking of Multiagent Systems With Time-Varying Actuator Faults and Its Application to Task-Space Cooperative Tracking of Manipulators

2021 ◽  
pp. 1-13
Author(s):  
Zhi Feng ◽  
Guoqiang Hu
Keyword(s):  
Multiagent Systems ◽  
Time Varying ◽  
Actuator Faults ◽  
Task Space ◽  
Formation Tracking ◽  
Cooperative Tracking

scholarly journals Fault-Tolerant Time-Varying Formation Tracking Control for Unmanned Aerial Vehicle Swarm Systems with Switching Topologies

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Ran Zhen ◽  
Yating Jin ◽  
Xiaojing Wu ◽  
Xueli Wu ◽  
Xuan Lv
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Tracking Control ◽  
Fault Tolerant ◽  
Time Varying ◽  
Actuator Faults ◽  
Control Protocol ◽  
Switching Topologies ◽  
Formation Tracking ◽  
Uav Swarm ◽  
Aerial Vehicle

This paper investigates fault-tolerant time-varying formation tracking control problems for unmanned aerial vehicle (UAV) swarm systems with switching topologies. Actuator faults such as loss of effectiveness and bias fault are mainly considered. Firstly, based on graph theory, an adaptive fault-tolerant time-varying formation tracking control protocol is constructed with adaptive updating parameters and the relative information of the neighboring UAVs, and the feasibility condition for formation tracking is given. The control protocol does not depend on the information of the actuator fault boundary by using adaptive technology. Then, by constructing a reasonable Lyapunov function and solving the algebraic Riccati equation, the stability of the designed controller is proved. For UAV swarm systems with switching topologies and actuator faults, the formation tracking control protocol designed is adopted to enable the followers form the desired time-varying formation and track the leader’s status at the same time. Finally, the simulation examples are given to illustrate the effectiveness of the theoretical results.

scholarly journals Networked Euler-Lagrangian Systems Synchronization under Time-Varying Communicating Delays

Information ◽  
2019 ◽  
Vol 10 (1) ◽  
pp. 14 ◽  
Author(s):  
Hongjun Wang ◽  
Zhuoqun Zhao ◽  
Tao Li
Keyword(s):  
Tracking Control ◽  
Synchronization Control ◽  
Lagrangian Systems ◽  
Time Varying ◽  
Task Space ◽  
Negative Effects ◽  
Tracking Errors ◽  
Adaptive Laws ◽  
Simulation Results ◽  
Cooperative Tracking

This paper investigates the problem of the task-space synchronization control for networked Euler-Lagrange systems. In the considered systems, there are time-varying delays existing in the networking links and every subsystem contains uncertainties in both kinematics and dynamics. By adding new time-varying coupling gains, the negative effects caused by time-varying delays are eliminated. Moreover, to address the difficulties of parametric calibration, an adaptively synchronous protocol and adaptive laws are designed to online estimate kinematics and dynamic uncertainties. Through a Lyapunov candidate and a Lyapunov-Krasovskii functional, the asymptotic convergences of tracking errors and synchronous errors are rigorously proved. The simulation results demonstrate the proposed protocol guaranteeing the cooperative tracking control of the uncalibrated networked Euler-Lagrange systems in the existence of time-varying delays.

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