Finite-Time Fault-Tolerant Formation Control for Distributed Multi-Vehicle Networks With Bearing Measurements

Wu, Kefan; Hu, Junyan; Ding, Zhengtao; Arvin, Farshad

doi:10.1109/tase.2023.3239748

Cited by 22 publications

(8 citation statements)

References 43 publications

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“…where The simulation results are shown in Figures 2,3,4,5,6,and 7. From these simulation results, it can be clearly seen that all signals of the controlled system are bounded.…”

Section: Simulation Resultsmentioning

confidence: 95%

“…Multi-agent systems (MAS) is a complex system composed of interacting individual agents, which solves large-scale, real-time, and uncertain complex real-world problems through information exchange and coordinated control between agents. In recent years, due to the application of MAS in various practical engineering fields such as robot formation, [1][2][3] automatic vehicle, [4][5][6] and mobile sensor networks, 7,8 the distributed cooperative control of multi-agent systems has received widespread attention, for instance, consensus control, [9][10][11] cluster control, 12 containment control, 13 and formation control.…”

Section: Introductionmentioning

confidence: 99%

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Command filter‐based adaptive robust prescribed performance formation control for nonlinear multi‐agent systems

Cao,

Li,

2024

Adaptive Control & Signal

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SummaryThis paper investigates an observer‐based adaptive robust fuzzy formation tracking control method for nonlinear multi‐agent systems (MAS) with input delay. The considered nonlinear MAS contains the unknown nonlinear functions, that is, unmeasured states. The fuzzy logic systems (FLS) are used to approximate the unknown nonlinear functions, and then a fuzzy adaptive state observer is designed to estimate the unmeasured states. The Pade approximation approach is introduced to solve the input delay issue. By combining command filtering and backstepping recursive control techniques, a robust adaptive prescribed performance formation output feedback tracking controller is designed. Moreover, the proposed controller can avoid the “explosion of complexity” and “singularity” problems in the backstepping design framework. Based on Lyapunov stability theory, it is proved that all signals in the closed‐loop system are semi‐globally uniformly ultimately bounded (SGUUB), and the formation tracking errors do not exceed the prescribed performance bounds. Finally, the feasibility of the proposed control approach can be further verified through numerical and practical examples.

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“…where The simulation results are shown in Figures 2,3,4,5,6,and 7. From these simulation results, it can be clearly seen that all signals of the controlled system are bounded.…”

Section: Simulation Resultsmentioning

confidence: 95%

Section: Introductionmentioning

confidence: 99%

Command filter‐based adaptive robust prescribed performance formation control for nonlinear multi‐agent systems

Cao,

Li,

2024

Adaptive Control & Signal

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“…Actuator failures cannot be ignored in practice. Controller (20), with partial loss of efficiency and bias faults, can be written as [33,35]…”

Section: Fault-tolerant Affine Formation Control With a Prescribed Co...mentioning

confidence: 99%

“…Remark 3. Same with [33], we assume that the efficiency factor and unknown output bias are bounded. When θ i (t) = 1 and ε i (t) = 0, the actuator is fault-free.…”

Section: Fault-tolerant Affine Formation Control With a Prescribed Co...mentioning

confidence: 99%

“…Motivated by this, many researchers consider the fault-tolerant control problem for multi-agent systems [26][27][28][29][30][31]. Fault-tolerant formation control of multi-agent systems with finite-time convergence or fixed-time convergence has also been considered in [32][33][34]. The fault-tolerant affine formation control problem is investigated in [35] for heterogeneous multi-agent systems.…”

Section: Introductionmentioning

confidence: 99%

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Prescribed Time Fault-Tolerant Affine Formation Control for Multi-Agent Systems with Double-Integrator Dynamics

Tang,

Li,

Yang

et al. 2023

Electronics

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There is an increasing interest in the affine formation control of multi-agent systems, because it can change the centroid, orientation and scale of the formation by controlling only a few leaders. In this paper, the fault-tolerant affine formation control problem is addressed for double-integrator multi-agent systems with partial loss of efficiency and bias faults. Firstly, in order to track the leaders with dynamically changing accelerations, an acceleration observer with prescribed time convergence is proposed, which can estimate the ideal acceleration for each follower. Then, based on the acceleration observer, a fault-tolerant control algorithm is given. A new Lyapunov function candidate is constructed, based on which a sufficient condition to achieve the control objective is derived. Theoretical analysis shows that the formation tracking error can converge to zero within a prescribed time, and remain in a small neighborhood of zero after that time. Finally, numerical simulations are given to show the effectiveness of the proposed algorithm and compare it with existing results.

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Sim-to-Real Deep Reinforcement Learning with Manipulators for Pick-and-Place

Liu,

Niu,

Skilton

et al. 2023

Lecture Notes in Computer Science

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Finite-Time Fault-Tolerant Formation Control for Distributed Multi-Vehicle Networks With Bearing Measurements

Cited by 22 publications

References 43 publications

Command filter‐based adaptive robust prescribed performance formation control for nonlinear multi‐agent systems

Command filter‐based adaptive robust prescribed performance formation control for nonlinear multi‐agent systems

Prescribed Time Fault-Tolerant Affine Formation Control for Multi-Agent Systems with Double-Integrator Dynamics

Sim-to-Real Deep Reinforcement Learning with Manipulators for Pick-and-Place

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