Work

Adaptive fault tolerant cooperative control for hybrid nonlinear multiagent systems via switching functional

Year: 2025

Type: article

Abstract: This paper investigates the fault tolerant cooperative control of strict-feedback hybrid multiagent systems with unknown nonlinear dynamics . The hybrid multiagent systems consist of both continuous-time and discrete-time agents, which suffer from potential multiple actuator faults . To deal with the sampled neighborhood information for continuous-time agents and to generate n -step prediction for discrete-time agents, hybrid distributed estimators are developed to estimate the state of the leader. To mitigate the impact by faulty actuators, a unified learning-based switching functional is introduced to select different sets of actuators automatically and locate the healthy set. By this means, the requirement for fault identification or fault detection and isolation mechanisms is relaxed. The controllers for continuous-time and discrete-time agents are designed separately for accommodating the difference between their dynamics. Through Lyapunov analysis, it is shown that the followers’ output can track the leader’s output and all the signals in the closed-loop are bounded. The numerical studies verify the effectiveness of the proposed scheme.

Source: Automatica

DOI: 10.1016/j.automatica.2025.112298

Authors: Huaying Li, Qinmin Yang, Meng Zhang, Zhengguang Wu, Shuzhi Sam Ge

Institutions: Zhejiang University, Xi'an Jiaotong University, National University of Singapore, Institute for Functional Intelligent Materials

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $3,760

Funders: National Natural Science Foundation of China, National Key Research and Development Program of China