Multi-group formation tracking fault-tolerant control for matched nonlinear multi-agent systems with switching topologies and unknown control inputs

IF 1.7 4区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Transactions of the Institute of Measurement and Control Pub Date : 2024-04-14 DOI:10.1177/01423312241235470

Xiaojing Wu, Zhenan Guo, Ran Zhen, Xiaoyuan Luo

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引用次数: 0

Abstract

The multi-group formation fault-tolerant control problem for high-order nonlinear multi-agent systems with parameter uncertainties, unknown external disturbances, switching topologies, and non-cooperative targets are investigated in this paper. A fully distributed formation tracking control protocol is proposed based on the total interaction information between subgroups being zero and the neighboring relative information of multi-agent in the subgroups. In addition, an algorithm is proposed to design the parameters of time-varying formation tracking control protocol. At the same time, it does not require knowing the bounds of actuator faults, parameter uncertainties, control inputs of the leaders, and unknown disturbances. Then, it is proved that the designed control protocols can make the high-order nonlinear multi-agent systems accomplish the desired time-varying multi-group formation, and the errors are uniformly asymptotically bounded stable. Finally, the effectiveness of the designed control protocol is demonstrated by simulation examples of three subgroups.

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具有开关拓扑和未知控制输入的匹配非线性多代理系统的多组编队跟踪容错控制

本文研究了具有参数不确定性、未知外部干扰、开关拓扑和非合作目标的高阶非线性多代理系统的多组编队容错控制问题。基于子群间的总交互信息为零以及子群中多机器人的相邻相对信息，提出了一种全分布式编队跟踪控制协议。此外，还提出了一种设计时变编队跟踪控制协议参数的算法。同时，该算法无需知道执行器故障、参数不确定性、领导者控制输入和未知干扰的边界。然后，证明了所设计的控制协议能使高阶非线性多代理系统完成所需的时变多组编队，并且误差是均匀渐近有界稳定的。最后，通过三个子群的仿真实例证明了所设计控制协议的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Transactions of the Institute of Measurement and Control 工程技术-仪器仪表

CiteScore

4.10

自引率

16.70%

发文量

203

审稿时长

3.4 months

期刊介绍： Transactions of the Institute of Measurement and Control is a fully peer-reviewed international journal. The journal covers all areas of applications in instrumentation and control. Its scope encompasses cutting-edge research and development, education and industrial applications.