Fault-Tolerant Optimal Consensus Control for Heterogeneous Multi-Agent Systems
Yandong Li,
Yongan Liu,
Ling Zhu
et al.
Abstract:This study explores fault-tolerant consensus in leader–following heterogeneous multi-agent systems, focusing on actuator failures in uncrewed aerial vehicles (UAVs) and uncrewed ground vehicles (UGVs). An optimization-based fault-tolerant consensus algorithm is proposed. The algorithm utilizes the Euler–Lagrange formula to ensure system consistency under actuator failures, with the Lyapunov stability theory proving the asymptotic stability of the consistency error. The algorithm is applied to heterogeneous mul… Show more
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