Fully distributed practical fixed-time consensus of second-order nonlinear multiagent systems under actuator faults

IF 4.2 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-08-27 DOI:10.1016/j.jfranklin.2025.108009

Shengli Du , Jin Han , Hao-Yuan Sun , Hong-Gui Han , Junfei Qiao

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引用次数: 0

Abstract

This article examines the fixed-time consensus issue for a category of second-order nonlinear multiagent systems (MASs) subject to actuator faults.The presence of multiple actuator faults and inherent system nonlinearities introduces substantial challenges to achieving consensus. To address these challenges, a fully distributed controller is proposed to enable the considered MASs to reach consensus. By tuning appropriate parameters, the tracking error is guaranteed to converge to a predefined bounded region within a fixed time. The control protocol incorporates adaptive parameters and requires no global network topology information, ensuring its fully distributed nature. As a result, the controller offers improved scalability and wider applicability. Finally, simulations are performed to validate the controller’s fault tolerance and distributed characteristics.

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二阶非线性多智能体系统在执行器故障下的全分布实际定时一致性

本文研究一类二阶非线性多智能体系统在执行器故障下的定时一致性问题。多个执行器故障和固有系统非线性的存在给达成共识带来了实质性的挑战。为了解决这些挑战，提出了一个完全分布式的控制器，以使考虑的MASs达成共识。通过调整适当的参数，保证跟踪误差在固定时间内收敛到预定义的有界区域。该控制协议采用自适应参数，不需要全局网络拓扑信息，保证了其完全分布式的特性。因此，控制器提供了改进的可扩展性和更广泛的适用性。最后，通过仿真验证了该控制器的容错性和分布特性。

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

Journal of The Franklin Institute-engineering and Applied Mathematics 工程技术-工程：电子与电气

CiteScore

7.30

自引率

14.60%

发文量

586

审稿时长

6.9 months

期刊介绍： The Journal of The Franklin Institute has an established reputation for publishing high-quality papers in the field of engineering and applied mathematics. Its current focus is on control systems, complex networks and dynamic systems, signal processing and communications and their applications. All submitted papers are peer-reviewed. The Journal will publish original research papers and research review papers of substance. Papers and special focus issues are judged upon possible lasting value, which has been and continues to be the strength of the Journal of The Franklin Institute.