Work

Distributed Adaptive Formation Control for Fractional-Order Multi-Agent Systems with Actuator Failures and Switching Topologies

Year: 2024

Type: article

Abstract: In this paper, a class of distributed adaptive formation control problems are investigated for second-order nonlinear fractional-order multi-agent systems with actuator failures and switching topologies. To address these challenges, two adaptive coupling gains based on agents’ position and velocity are incorporated into the control protocol. Using the Lyapunov method along with graph theory and matrix analysis, sufficient conditions for system stability are derived in the presence of actuator failures and switching topologies. The effectiveness of the proposed control protocol is demonstrated through numerical simulations, which show its capability to maintain stable formation control under these challenging conditions.

Source: Fractal and Fractional

DOI: 10.3390/fractalfract8100563

Authors: Jing Li, Zixiang Yan, Xingyun Shi, Xuqiong Luo

Institution: Changsha University of Science and Technology

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: $3,069

Funders: National Natural Science Foundation of China, Natural Science Foundation of Hunan Province