{"title":"Event-triggered adaptive fault-tolerant control for heterogeneous nonlinear multi-agent systems","authors":"Lin-Xing Xu, Lian-Na Zhao, Yang Li","doi":"10.1002/asjc.3413","DOIUrl":null,"url":null,"abstract":"<div>\n \n <p>In this paper, a distributed adaptive output feedback consensus tracking control scheme is developed for heterogeneous nonlinear multi-agent systems (MASs) with actuator failures. Unlike most existing results, the parameters in the considered MAS are unknown, and the system's nonlinear functions are not required to satisfy the Lipschitz condition. A kind of K-filters with an additional design parameter is designed to suppress the effects of unknown actuator failures. In addition, an event-triggering mechanism with a switching threshold method is designed to reduce the communication burden. With the proposed control scheme, the tracking error of each subsystem converges exponentially to an adjustable bound. Finally, a nonlinear MAS consisting of multiple single-link robot manipulators is given to verify its effectiveness.</p>\n </div>","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"27 1","pages":"260-275"},"PeriodicalIF":2.7000,"publicationDate":"2024-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Asian Journal of Control","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/asjc.3413","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
In this paper, a distributed adaptive output feedback consensus tracking control scheme is developed for heterogeneous nonlinear multi-agent systems (MASs) with actuator failures. Unlike most existing results, the parameters in the considered MAS are unknown, and the system's nonlinear functions are not required to satisfy the Lipschitz condition. A kind of K-filters with an additional design parameter is designed to suppress the effects of unknown actuator failures. In addition, an event-triggering mechanism with a switching threshold method is designed to reduce the communication burden. With the proposed control scheme, the tracking error of each subsystem converges exponentially to an adjustable bound. Finally, a nonlinear MAS consisting of multiple single-link robot manipulators is given to verify its effectiveness.
本文针对存在执行器故障的异构非线性多代理系统（MAS），开发了一种分布式自适应输出反馈共识跟踪控制方案。与大多数现有成果不同的是，所考虑的 MAS 中的参数是未知的，而且系统的非线性函数不需要满足 Lipschitz 条件。我们设计了一种带有额外设计参数的 K 过滤器，以抑制未知执行器故障的影响。此外，还设计了一种具有切换阈值方法的事件触发机制，以减轻通信负担。利用所提出的控制方案，每个子系统的跟踪误差都以指数形式收敛到一个可调整的边界。最后，给出了一个由多个单链路机器人机械手组成的非线性 MAS，以验证其有效性。
期刊介绍：
The Asian Journal of Control, an Asian Control Association (ACA) and Chinese Automatic Control Society (CACS) affiliated journal, is the first international journal originating from the Asia Pacific region. The Asian Journal of Control publishes papers on original theoretical and practical research and developments in the areas of control, involving all facets of control theory and its application.
Published six times a year, the Journal aims to be a key platform for control communities throughout the world.
The Journal provides a forum where control researchers and practitioners can exchange knowledge and experiences on the latest advances in the control areas, and plays an educational role for students and experienced researchers in other disciplines interested in this continually growing field. The scope of the journal is extensive.
Topics include:
The theory and design of control systems and components, encompassing:
Robust and distributed control using geometric, optimal, stochastic and nonlinear methods
Game theory and state estimation
Adaptive control, including neural networks, learning, parameter estimation
and system fault detection
Artificial intelligence, fuzzy and expert systems
Hierarchical and man-machine systems
All parts of systems engineering which consider the reliability of components and systems
Emerging application areas, such as:
Robotics
Mechatronics
Computers for computer-aided design, manufacturing, and control of
various industrial processes
Space vehicles and aircraft, ships, and traffic
Biomedical systems
National economies
Power systems
Agriculture
Natural resources.
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