Adaptive fault-tolerant control for a class of nonlinear multi-agent systems with multiple unknown time-varying control directions
Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review
Author(s)
Related Research Unit(s)
Detail(s)
Original language | English |
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Article number | 111802 |
Journal / Publication | Automatica |
Volume | 167 |
Online published | 24 Jun 2024 |
Publication status | Published - Sept 2024 |
Link(s)
Abstract
In this paper, we investigate the consensus tracking control for a class of heterogeneous multi-agent systems with multiple unknown time-varying control directions and unknown direction actuator faults. Different from existing work, the directions of the multiple time-varying control coefficients are subject to fault-induced sign-switching. To address this challenge, a series of high-order Lyapunov functions and differentiable functions are introduced to avoid non-integrable terms. Then, a novel contradiction statement and some Nussbaum functions are used to handle the summation of multiple unknown control coefficients with time-varying amplitudes and directions. Meanwhile, a novel distributed observer with quantized communication is introduced to track a reference trajectory with unknown dynamics. It is shown that all closed-loop signals are globally uniformly bounded and the tracking errors converge to residual sets that can be made arbitrarily small. Simulation results illustrate the effectiveness of the proposed scheme. © 2024 Elsevier Ltd
Research Area(s)
- Actuator faults, Adaptive control, Consensus tracking, Multi-agent systems, Unknown directions
Citation Format(s)
Adaptive fault-tolerant control for a class of nonlinear multi-agent systems with multiple unknown time-varying control directions. / Guo, Xiaoyu; Wang, Chenliang; Liu, Lu.
In: Automatica, Vol. 167, 111802, 09.2024.
In: Automatica, Vol. 167, 111802, 09.2024.
Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review