Fault-tolerant multi-agent formation control using distributed nonlinear MPC with discrete-time super-twisting sliding mode fault estimation

Fault-tolerant multi-agent formation control using distributed nonlinear MPC with discrete-time super-twisting sliding mode fault estimation

This paper presents a novel Fault-Tolerant Distributed Nonlinear Model Predictive Controller for Formation Control of Agents with Fractional-Order Dynamics (DNMPC-FCFO). The proposed approach enhances fault tolerance in multi-agent systems, particularly in environments with obstacles, by implementin...

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Bibliographic Details
Main Authors: Farshid Aazam Manesh, Mahdi Pourgholi, Elham Amini Boroujeni, Farshad Aazam Manesh
Format: Article
Language:English
Published: Elsevier 2025-06-01
Series:Franklin Open
Subjects:
Discrete-time sliding mode
Fault
Distributed predictive control
Fractional order system
Multi-agent formation
Collision
Online Access:http://www.sciencedirect.com/science/article/pii/S2773186325000593
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