Cooperative adaptive fault-tolerant control for heterogeneous multiagent systems with guaranteed performance
This paper studies the fault-tolerant control problem for the heterogeneous multiagen systems consisting of multiple quadrotors and mobile robots with guaranteed performance in the presence of unknown actuator faults. First, the full-state performance constraints of the position and attitude subsyst...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
ELS Publishing (ELSP)
2024-08-01
|
| Series: | Artificial Intelligence and Autonomous Systems |
| Subjects: | |
| Online Access: | https://elsp-homepage.oss-cn-hongkong.aliyuncs.compaper/journal/open/AIAS/2024/aias20240005.pdf |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1849239762059132928 |
|---|---|
| author | Jianye Gong Xiuli Wang Yang Li Dandan Lyu |
| author_facet | Jianye Gong Xiuli Wang Yang Li Dandan Lyu |
| author_sort | Jianye Gong |
| collection | DOAJ |
| description | This paper studies the fault-tolerant control problem for the heterogeneous multiagen systems consisting of multiple quadrotors and mobile robots with guaranteed performance in the presence of unknown actuator faults. First, the full-state performance constraints of the position and attitude subsystem of follower vehicles are considered, especially in the case of actuator faults, and then the state constraints of heterogeneous unmanned systems are addressed by combining the performance functions and barrier Lyapunov function method. Then, the constraints-based cooperative adaptive fault-tolerant control strategy is proposed, where the adaptive terms are adopted to compensate for the unknown bounded actuator loss of effectiveness faults and bias faults and the constraint signals are introduced to ensure the performance conditions of system states. Based on the theoretical analysis, the cooperative fault-tolerant time-varying formation convergence performance is discussed. The simulation results on the UAVs-UGVs formation systems composed of quadrotors and mobile robots are presented to validate the effectiveness of the proposed control strategy. |
| format | Article |
| id | doaj-art-d07d2fa6774e45de8be0028156c313fb |
| institution | Kabale University |
| issn | 2959-0744 2959-0752 |
| language | English |
| publishDate | 2024-08-01 |
| publisher | ELS Publishing (ELSP) |
| record_format | Article |
| series | Artificial Intelligence and Autonomous Systems |
| spelling | doaj-art-d07d2fa6774e45de8be0028156c313fb2025-08-20T04:00:51ZengELS Publishing (ELSP)Artificial Intelligence and Autonomous Systems2959-07442959-07522024-08-011212210.55092/aias202400051779867180700499968Cooperative adaptive fault-tolerant control for heterogeneous multiagent systems with guaranteed performanceJianye Gong0Xiuli Wang1Yang Li2Dandan Lyu3College of Electrical Engineering, Anhui Polytechnic UniversityCollege of Information Engineering, Zhejiang University of TechnologySchool of Mechatronic Engineering and Automation, Shanghai UniversityCollege of Computer Science and Technology, Zhejiang UniversityThis paper studies the fault-tolerant control problem for the heterogeneous multiagen systems consisting of multiple quadrotors and mobile robots with guaranteed performance in the presence of unknown actuator faults. First, the full-state performance constraints of the position and attitude subsystem of follower vehicles are considered, especially in the case of actuator faults, and then the state constraints of heterogeneous unmanned systems are addressed by combining the performance functions and barrier Lyapunov function method. Then, the constraints-based cooperative adaptive fault-tolerant control strategy is proposed, where the adaptive terms are adopted to compensate for the unknown bounded actuator loss of effectiveness faults and bias faults and the constraint signals are introduced to ensure the performance conditions of system states. Based on the theoretical analysis, the cooperative fault-tolerant time-varying formation convergence performance is discussed. The simulation results on the UAVs-UGVs formation systems composed of quadrotors and mobile robots are presented to validate the effectiveness of the proposed control strategy.https://elsp-homepage.oss-cn-hongkong.aliyuncs.compaper/journal/open/AIAS/2024/aias20240005.pdffault-tolerant controladaptive controlheterogeneous miltiagent systemsactuator faultperformance constraint |
| spellingShingle | Jianye Gong Xiuli Wang Yang Li Dandan Lyu Cooperative adaptive fault-tolerant control for heterogeneous multiagent systems with guaranteed performance Artificial Intelligence and Autonomous Systems fault-tolerant control adaptive control heterogeneous miltiagent systems actuator fault performance constraint |
| title | Cooperative adaptive fault-tolerant control for heterogeneous multiagent systems with guaranteed performance |
| title_full | Cooperative adaptive fault-tolerant control for heterogeneous multiagent systems with guaranteed performance |
| title_fullStr | Cooperative adaptive fault-tolerant control for heterogeneous multiagent systems with guaranteed performance |
| title_full_unstemmed | Cooperative adaptive fault-tolerant control for heterogeneous multiagent systems with guaranteed performance |
| title_short | Cooperative adaptive fault-tolerant control for heterogeneous multiagent systems with guaranteed performance |
| title_sort | cooperative adaptive fault tolerant control for heterogeneous multiagent systems with guaranteed performance |
| topic | fault-tolerant control adaptive control heterogeneous miltiagent systems actuator fault performance constraint |
| url | https://elsp-homepage.oss-cn-hongkong.aliyuncs.compaper/journal/open/AIAS/2024/aias20240005.pdf |
| work_keys_str_mv | AT jianyegong cooperativeadaptivefaulttolerantcontrolforheterogeneousmultiagentsystemswithguaranteedperformance AT xiuliwang cooperativeadaptivefaulttolerantcontrolforheterogeneousmultiagentsystemswithguaranteedperformance AT yangli cooperativeadaptivefaulttolerantcontrolforheterogeneousmultiagentsystemswithguaranteedperformance AT dandanlyu cooperativeadaptivefaulttolerantcontrolforheterogeneousmultiagentsystemswithguaranteedperformance |