This paper is concerned with the control of Lipschitz continuous multi-agent systems in the presence of actuator faults. The faults in a multi-agent system can potentially affect the mission and lead to instability. A linear matrix inequality based method is proposed to account for the faults so that a stable consensus can be maintained even when the agents are subject to hybrid faults and nonlinearities. Two illustrative examples are provided to show the design and feasibility of the proposed method.INDEX TERMS Observer, linear matrix inequality, hybrid actuator fault, Lipschitz nonlinear, multi agent system.

This article develops protocols for the consensus of an uncertain nonlinear multi-agent system that satisfies the one-sided Lipschitz and quadratic-inner bounded conditions. Fully distributed consensus protocols with observer-based and observer-less schemes are investigated. For the observer-based system, a full order Luenberger observer is designed. To overcome the difficulties of designing the controller and observer-based controller gains, sufficient conditions are provided with a complete linear matrix inequality characterization. Finally, two simulation examples are provided to illustrate the effectiveness of the proposed approach.

No abstract

In this article, methods of formation maintenance for a group of autonomous agents under ageneral topology scheme are discussed. Unlike rendezvous or geometric formation, general topology pursuit allows the group of agents to autonomously form trochoid patterns, which are useful in civilian and military applications. However, this type of topology is established by designing a marginally stable system that may be sensitive to parameter variations. To account for this drawback of stability, linear fixed-gains are turned into a dynamical version in this paper. By implementing a disturbance observer controller, systems are shown to maintain their formation despite the disturbances or uncertainties. Comparison in the effectiveness of the presented method with model reference adaptive control and integral sliding mode control under the uncertainties of the gains is also conducted. The capabilities of controllers are demonstrated and supported through simulations.

No abstract