Adaptive fault‐tolerant time‐varying formation tracking for multiagent systems with multiple leaders

Wang, Zhanshan; Wu, Yanming; Li, Tieshan; Zhang, Huaguang

doi:10.1002/rnc.4459

Cited by 21 publications

(24 citation statements)

References 41 publications

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“…In above references, the time‐varying formation issues are not considered for MASs with actuator faults. In Reference 25, the adaptive fault‐tolerant formation control protocol is proposed for nonlinear MASs with multiple leaders. In Reference 26, the time‐varying formation tracking problem is considered for leaderless MASs in the presence of actuator fault.…”

Section: Introductionmentioning

confidence: 99%

“…An algorithm is presented to determine the control parameters. However, both References 25 and 26 only consider the undirected topology and the state of all agents can be obtained directly. How to solve the above problems becomes an interesting research topic, and it has few results in this regard.…”

Section: Introductionmentioning

confidence: 99%

“…Compared with References 8, 9, 13, the control protocol is more suitable for some real system of information indirectly accessible. Compared with References 7, 13, 25, the time‐varying formation tracking is addressed under directed topology, the bounded of all signals can be adjusted though the selection of parameters.…”

Section: Introductionmentioning

confidence: 99%

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Distributed adaptive practical formation tracking for multi‐agent systems with actuator faults

Liu

et al. 2022

Intl J Robust & Nonlinear

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This paper mainly studies the practical fault tolerant formation tracking for multi-agent systems under directed topology. The objective is to achieve the desired formation in the spatial positions and track the reference signal generated by one and multiple leaders. Considering that the real state information is unavailable, the distributed observer is proposed using the relative information of neighborhood agents, where the observer gain calculation is not constrained by the number of agents. With the adaptive updating mechanism, two effective distributed fault-tolerant formation tracking protocols are proposed and the feasible condition of time-varying formation is introduced. Furthermore, based on the proposed control protocol, the formation tracking errors and other signals converge to bounded region around the origin. Towards the end, three simulations are considered to illustrate the effectiveness of the proposed techniques.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Distributed adaptive practical formation tracking for multi‐agent systems with actuator faults

Liu

et al. 2022

Intl J Robust & Nonlinear

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“…In real-world applications, data transmission over cyber networks and information shared between agents could become susceptible to not only adverse and malicious threats but also attacks that would crucially compromise or even destroy a networked robotic system [17], [18]. Although multi-agent systems are advantageous in various tasks with redundancy and scalability, the issues of actuator faults, fallible robots, and vulnerable communications have recently attracted significant attention [14], [19]- [24]. Connectivity preservation with respect to robot failures was addressed by [19], where a self-optimization of resilient topologies and an experimental validation were provided.…”

Section: Introductionmentioning

confidence: 99%

Resilient Time-Varying Formation Tracking for Mobile Robot Networks under Deception Attacks on Positioning

Liu¹,

Liu²,

Song³

2021

Preprint

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This paper investigates the resilient control, analysis, recovery, and operation of mobile robot networks in time-varying formation tracking under deception attacks on global positioning.Local and global tracking control algorithms are presented to ensure redundancy of the mobile robot network and to retain the desired functionality for better resilience. Lyapunov stability analysis is utilized to show the boundedness of the formation tracking error and the stability of the network under various attack modes. A performance index is designed to compare the efficiency of the proposed formation tracking algorithms in situations with or without positioning attacks. Subsequently, a communication-free decentralized cooperative localization approach based on extended information filters is presented for positioning estimate recovery where the identification of the positioning attacks is based on Kullback-Leibler divergence. A gain-tuning resilient operation is proposed to strategically synthesize the formation control and cooperative localization for accurate and rapid system recovery from positioning attacks. The proposed methods are tested using both numerical simulation and experimental validation with a team of quadrotors.

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“…In Reference 34, the fault‐tolerant tracking control problem for linear MASs with mismatched disturbances and multiple faults is solved by using intermediate estimator method. For nonlinear MASs with multiple leaders, an adaptive fault‐tolerant time‐varying formation control method is developed 35 . It is worth pointing out that the mentioned above distributed fault‐tolerant methods can solve the FTC problem for MASs under undirected graphs.…”

Section: Introductionmentioning

confidence: 99%

Cooperative fault‐tolerant fuzzy tracking control for nonlinear multiagent systems under directed network topology via a hierarchical control scheme

Xiao

Dong

2020

Intl J Robust & Nonlinear

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This article investigates the issue of cooperative fault‐tolerant fuzzy tracking control for a class of nonlinear multiagent systems subject to actuator failures and external disturbances under a directed network topology. By introducing the hierarchical control scheme, a fully distributed tracking control method is proposed. Specifically, the hierarchical control framework includes the upper layer and the lower layer. The upper layer consists of a virtual system and a virtual cooperative controller. The lower layer consists of an actual system and a fault‐tolerant tracking controller. Compared with the most existing distributed fault‐tolerant control methods where the fault in one agent may cause chain reaction, the phenomenon of fault propagation can be eliminated. Finally, the proposed strategy is demonstrated by simulation results.

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Adaptive fault‐tolerant time‐varying formation tracking for multiagent systems with multiple leaders

Cited by 21 publications

References 41 publications

Distributed adaptive practical formation tracking for multi‐agent systems with actuator faults

Distributed adaptive practical formation tracking for multi‐agent systems with actuator faults

Resilient Time-Varying Formation Tracking for Mobile Robot Networks under Deception Attacks on Positioning

Cooperative fault‐tolerant fuzzy tracking control for nonlinear multiagent systems under directed network topology via a hierarchical control scheme

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