Distributed fault-tolerant time-varying formation control for high-order linear multi-agent systems with actuator failures

Summary In this paper, an adaptive fault‐tolerant time‐varying formation control problem for nonlinear multiagent systems with multiple leaders is studied against actuator faults and state‐dependent uncertainties. Simultaneously, the followers form a predefined formation while tracking reference signal determined by the convex combination of the multiple leaders. Based on the neighboring relative information, an adaptive fault‐tolerant formation time‐varying control protocol is constructed to compensate for the influences of actuator faults and model uncertainties. In addition, the updating laws can be adjusted online through the adaptive mechanism, and the proposed control protocol can guarantee that all the signals in the closed‐loop systems are bounded. Lyapunov‐like functions are addressed to prove the stability of multiagent systems. Finally, two examples are provided to demonstrate the effectiveness of the theoretical results.

“…It follows from that

{\overset{V}{true}}_{1} \leq - λ_{\min} false(Q_{i} false) false‖ e false(t false) ‖^{2} + true \sum_{i = 1}^{M} {\underline{ρ}}_{i} φ_{i} σ_{i} false(t false),

where − λ min ( Q i ) is the minimal eigenvalue of matrix Q i . Then, we can get

V_{1} false(t false) \leq V_{1} false(t_{0} false) - true \sum_{i = 1}^{M} \int_{t_{0}}^{t} λ_{\min} false(Q_{i} false) false‖ e false(t false) ‖^{2} d_{τ} + true \sum_{i = 1}^{M} \int_{t_{0}}^{t} {\underline{ρ}}_{i} φ_{i} σ_{i} false(τ false) d_{τ} .

By using the Barbalat lemma, it follows that V 1 ( t ) is uniformly bounded and so as

ĉ_{i}

{\overset{ϕ}{true}}_{i}

, and

{\overset{η}{true}}_{i}

, i = 1,2,…, M . From the mathematical theory, we can obtain that e ( t ) is uniformly continuous.…”

Section: Resultsmentioning

confidence: 97%

Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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

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

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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.

Secure formation control for resilient multi‐agent cyber‐physical systems under DoS attacks and faults

Liu

Dong

Zhang

et al. 2023

Self Cite

A distributed cyber-security and fault tolerance formation problem is considered in this paper. This is done though a multi-agent system in which all agents concentrate on a formation reference function and accomplish a desired time-varying formation even in the presence of malicious attacks and multiple faults. To achieve the resilient control task, a distributed control protocol using an event-triggered technique and active reconfigurable strategy is proposed in the face of adverse effects for the overall system. When denial of service is launched by adversaries, the attack parameters are bounded by analyzing the Lyapunov stability theorem and the property of the Laplacian matrix. To improve the capability of fault-tolerance, an observer-based fault estimator is used to calculate fault values. The simulation results validate that the presented scheme can perfectly address the distributed formation issue with faults over attack intervals.