Fault-Tolerant Time-Varying Formation Trajectory Tracking Control for Multi-Agent Systems with Time Delays and Semi-Markov Switching Topologies
The fault-tolerant time-varying formation (TVF) trajectory tracking control problem is investigated in this paper for uncertain multi-agent systems (MASs) with external disturbances subject to time delays under semi-Markov switching topologies. Firstly, based on the characteristics of actuator fault...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-12-01
|
| Series: | Drones |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-446X/8/12/778 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850241398172811264 |
|---|---|
| author | Huangzhi Yu Kunzhong Miao Zhiqing He Hong Zhang Yifeng Niu |
| author_facet | Huangzhi Yu Kunzhong Miao Zhiqing He Hong Zhang Yifeng Niu |
| author_sort | Huangzhi Yu |
| collection | DOAJ |
| description | The fault-tolerant time-varying formation (TVF) trajectory tracking control problem is investigated in this paper for uncertain multi-agent systems (MASs) with external disturbances subject to time delays under semi-Markov switching topologies. Firstly, based on the characteristics of actuator faults, a failure distribution model is established, which can better describe the occurrence of the failures in practice. Secondly, switching the network topologies is assumed to follow a semi-Markov stochastic process that depends on the sojourn time. Subsequently, a novel distributed state-feedback control protocol with time-varying delays is proposed to ensure that the MASs can maintain a desired formation configuration. To reduce the impact of disturbances imposed on the system, the <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msub><mi>H</mi><mo>∞</mo></msub></semantics></math></inline-formula> performance index is introduced to enhance the robustness of the controller. Furthermore, by constructing an advanced Lyapunov–Krasovskii (LK) functional and utilizing the reciprocally convex combination theory, the TVF control problem can be transformed into an asymptotic stability issue, achieving the purpose of decoupling and reducing conservatism. Furthermore, sufficient conditions for system stability are obtained through linear matrix inequalities (LMIs). Eventually, the availability and superiority of the theoretical results are validated by three simulation examples. |
| format | Article |
| id | doaj-art-d040a160c8b540239f5d80bdd089e29d |
| institution | OA Journals |
| issn | 2504-446X |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj-art-d040a160c8b540239f5d80bdd089e29d2025-08-20T02:00:37ZengMDPI AGDrones2504-446X2024-12-0181277810.3390/drones8120778Fault-Tolerant Time-Varying Formation Trajectory Tracking Control for Multi-Agent Systems with Time Delays and Semi-Markov Switching TopologiesHuangzhi Yu0Kunzhong Miao1Zhiqing He2Hong Zhang3Yifeng Niu4School of Intelligent Sciences, National University of Defense Technology, Changsha 410011, ChinaSchool of Intelligent Sciences, National University of Defense Technology, Changsha 410011, ChinaSystems Engineering Research Institute, China State Shipbuilding Corporation Limited, Beijing 100094, ChinaSchool of Intelligent Sciences, National University of Defense Technology, Changsha 410011, ChinaSchool of Intelligent Sciences, National University of Defense Technology, Changsha 410011, ChinaThe fault-tolerant time-varying formation (TVF) trajectory tracking control problem is investigated in this paper for uncertain multi-agent systems (MASs) with external disturbances subject to time delays under semi-Markov switching topologies. Firstly, based on the characteristics of actuator faults, a failure distribution model is established, which can better describe the occurrence of the failures in practice. Secondly, switching the network topologies is assumed to follow a semi-Markov stochastic process that depends on the sojourn time. Subsequently, a novel distributed state-feedback control protocol with time-varying delays is proposed to ensure that the MASs can maintain a desired formation configuration. To reduce the impact of disturbances imposed on the system, the <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msub><mi>H</mi><mo>∞</mo></msub></semantics></math></inline-formula> performance index is introduced to enhance the robustness of the controller. Furthermore, by constructing an advanced Lyapunov–Krasovskii (LK) functional and utilizing the reciprocally convex combination theory, the TVF control problem can be transformed into an asymptotic stability issue, achieving the purpose of decoupling and reducing conservatism. Furthermore, sufficient conditions for system stability are obtained through linear matrix inequalities (LMIs). Eventually, the availability and superiority of the theoretical results are validated by three simulation examples.https://www.mdpi.com/2504-446X/8/12/778time-varying formation (TVF)multi-agent systems (MASs)actuator failuressemi-Markov switching topologiestime-varying communication delays |
| spellingShingle | Huangzhi Yu Kunzhong Miao Zhiqing He Hong Zhang Yifeng Niu Fault-Tolerant Time-Varying Formation Trajectory Tracking Control for Multi-Agent Systems with Time Delays and Semi-Markov Switching Topologies Drones time-varying formation (TVF) multi-agent systems (MASs) actuator failures semi-Markov switching topologies time-varying communication delays |
| title | Fault-Tolerant Time-Varying Formation Trajectory Tracking Control for Multi-Agent Systems with Time Delays and Semi-Markov Switching Topologies |
| title_full | Fault-Tolerant Time-Varying Formation Trajectory Tracking Control for Multi-Agent Systems with Time Delays and Semi-Markov Switching Topologies |
| title_fullStr | Fault-Tolerant Time-Varying Formation Trajectory Tracking Control for Multi-Agent Systems with Time Delays and Semi-Markov Switching Topologies |
| title_full_unstemmed | Fault-Tolerant Time-Varying Formation Trajectory Tracking Control for Multi-Agent Systems with Time Delays and Semi-Markov Switching Topologies |
| title_short | Fault-Tolerant Time-Varying Formation Trajectory Tracking Control for Multi-Agent Systems with Time Delays and Semi-Markov Switching Topologies |
| title_sort | fault tolerant time varying formation trajectory tracking control for multi agent systems with time delays and semi markov switching topologies |
| topic | time-varying formation (TVF) multi-agent systems (MASs) actuator failures semi-Markov switching topologies time-varying communication delays |
| url | https://www.mdpi.com/2504-446X/8/12/778 |
| work_keys_str_mv | AT huangzhiyu faulttoleranttimevaryingformationtrajectorytrackingcontrolformultiagentsystemswithtimedelaysandsemimarkovswitchingtopologies AT kunzhongmiao faulttoleranttimevaryingformationtrajectorytrackingcontrolformultiagentsystemswithtimedelaysandsemimarkovswitchingtopologies AT zhiqinghe faulttoleranttimevaryingformationtrajectorytrackingcontrolformultiagentsystemswithtimedelaysandsemimarkovswitchingtopologies AT hongzhang faulttoleranttimevaryingformationtrajectorytrackingcontrolformultiagentsystemswithtimedelaysandsemimarkovswitchingtopologies AT yifengniu faulttoleranttimevaryingformationtrajectorytrackingcontrolformultiagentsystemswithtimedelaysandsemimarkovswitchingtopologies |