Distributed adaptive neural network control for a class of heterogeneous nonlinear multi-agent systems subject to actuation failures

Abstract

In this paper, the cooperative adaptive consensus tracking problem for heterogeneous nonlinear multiagent systems on directed graph is addressed. Each follower is modelled as a general nonlinear system with the unknown and nonidentical nonlinear dynamics, disturbances and actuator failures. Cooperative fault tolerant neural network tracking controllers with online adaptive learning features are proposed to guarantee that all agents synchronise to the trajectory of one leader with bounded adjustable synchronisation errors. With the help of linear quadratic regulator-based optimal design, a graph-dependent Lyapunov proof provides error bounds that depend on the graph topology, one virtual matrix and some design parameters.Of particular interest is that if the control gain is selected appropriately, the proposed control scheme can be implemented in a unified framework no matter whether there are faults or not. Furthermore, the fault detection and isolation are not needed to implement. Finally, a simulation is given to verify the effectiveness of the proposed method.

Stochastic synchronization of delayed multiagent networks with intermittent communications: An impulsive framework

“…Remark 6. Compared with Theorem 1, Theorem 2 needs additional condition (12), which implies larger (means more frequent impulsive input) and smaller Δ (means not very large time interval of communication interrupt) are helpful to the synchronization. This theoretical result is very reasonable in the common sense.…”

“…During the past two decades, much attention has been focused on the research of cooperative control for its extensive applications in various fields, such as coordination and control of distributed sensor networks, satellite clusters, unmanned‐air‐vehicle formations, teaming of multirobotics, and elsewhere . Many control techniques based on continuous control have been developed for synchronization and consensus of multiagent networks, such as event‐triggered control, observer‐based protocol, adaptive control, and finite‐time control . A notable question is how to solve the synchronization control problem if the continuous control methods are invalid.…”

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

“…Assumption 3 is necessary condition in most existing work to address the fault-tolerant control problem. 35,36 As for Assumption 4, i (x i , t) is the core information from the nonlinearities of the multiagent system, which can be obtained from the characteristics of the practical system and historical statistical information. The unknown constant̄i can be any larger than one, which should guarantee the hold of Assumption 4.…”

Adaptive Fault‐Tolerant Control of Uncertain MIMO Systems with Reduced Requirement on Desired Trajectory Under Unknown Control Direction

“…Differentiating V 1 with respect to time and using (19), and under the healthy actuation p j = 1, j = 1, · · · , n, it then follows that:…”

“…Furthermore, actuation failures might occur in one or more agents during systems operation. Fault-tolerant control schemes have been proposed in the literature [18][19][20][21][22][23][24]. In [18], the nonlinear adaptive compensation problem of the actuator under unknown parameters is studied for the state feedback control of the unknown MIMO linear time-invariant system.…”