Distributed Active Fault-Tolerant Cooperative Control for Multiagent Systems With Communication Delays and External Disturbances

Zhong, Yujiang; Lyu, Guangran; He, Xin; Zhang, Youmin; Ge, Shuzhi Sam

doi:10.1109/tcyb.2021.3133463

Cited by 15 publications

(1 citation statement)

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“…T HE problem of cooperative control of multi-agent systems (MASs) has attracted increasing attention in various scientific communities recently including synchronization of complex networks, cooperative control of multiple vehicles, coordination of multiple robotic fish, teaming of robots, and so on [1][2][3][4][5][6]. According to the control objectives of distributed control of MASs, the existing coordination control problems are divided into regulation cooperative control [7] and coordinated tracking control [8]. However, it is important to design a suitable control strategy for whichever control goal you want to achieve.…”

Section: Introductionmentioning

confidence: 99%

Observer-Based Coordinated Tracking Control for Nonlinear Multi-Agent Systems with Intermittent Communication under Heterogeneous Coupling Framework

Zhang¹,

Jiang²,

Wang³

2022

Preprint

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In this article, the observer-based coordinated tracking control problem for a class of nonlinear multi-agent systems(MASs) with intermittent communication and information constraints is studied under dynamic switching topology. First, a state observer is designed to estimate the unmeasurable actual state information in the system. Second, adjustable heterogeneous coupling weighting parameters are introduced in the dynamic switching topology, and the distributed coordinated tracking control protocol under heterogeneous coupling framework is proposed. Then, a new Lemma is constructed to realize the cooperative design of observer gain, state feedback gain and heterogeneous coupling gain matrices. Furthermore, the stability of the system is further proved, and the range of communication rate is obtained. On this basis, the intermittent communication mode is extended to three time interval cases, namely normal communication, leader-follower communication interruption and all agents communication interruption, and then the distributed coordinated tracking control method is improved to solve this problem. Finally, simulation experiments are conducted with nonlinear MASs to verify the correctness of methods.

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