Work

Fault‐tolerant formation control of multi‐agent systems with multiple leaders based on intermediate variable estimator

Year: 2024

Type: article

Abstract: This article investigates the distributed fault‐tolerant formation control problem of a multi‐leader system with process faults and system uncertainties. This study guarantees all the followers to achieve a specified time‐varying formation and track the combination of multiple leaders. By treating faults as a special type of states, an enhanced system is constructed. Furthermore, an intermediate variable observer is designed, but the observer matching condition is not necessary. The observer is used to estimate faults and system uncertainties, for reconstructing the formation controller. The observer gains are determined by solving linear matrix inequalities. Subsequently, controller gains are designed based on Lyapunov theorem and adaptive techniques. Finally, the proposed method is verified through a simulation example.

Source: IET Control Theory and Applications

DOI: 10.1049/cth2.12737

Authors: Jiantao Shi, Shuangqing Xing, Wenli Zhang, Anning Liu, Chuang Chen

Institution: Nanjing Tech University

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,300

Funders: National Natural Science Foundation of China, Government of Jiangsu Province, Natural Science Foundation of Jiangsu Province