Fixed-Time Fault-Tolerant Formation Control for Heterogeneous Multi-Agent Systems With Parameter Uncertainties and Disturbances

Cheng, Wanglei; Zhang, Ke; Jiang, Bin; Ding, Steven X.

doi:10.1109/tcsi.2021.3061386

Cited by 100 publications

(44 citation statements)

References 47 publications

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“…The parameter r i to be tuned is the width of the output membership function. Substituting the above centers into Equation (30), we can obtain:…”

Section: Heterogeneous Muti-agent Unmanned System Formation Assemblementioning

confidence: 99%

“…For this purpose, we employed the sliding mode control method to make the assembly of USVs quickly and steadily and constructed the APF (artificial potential field) function so that the USVs could be assembled without collision. Currently, there are some results related to the cooperative formation of UAV-USV heterogeneous unmanned systems in [5,[29][30][31]. However, the heterogeneous properties are expressed in the variation of model parameters, while the cooperative relationship between UAV and USV is less described.…”

Section: Introductionmentioning

confidence: 99%

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Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme

Xue

2021

JMSE

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This paper addresses the formation motion control of heterogeneous multi-agent unmanned systems via a distributed consensus approach. The considered heterogeneous system consisted of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs). A leader-following consensus scheme and APF method are used to construct UAV-USVs Formation task requirements. A fuzzy-based sliding mode control approach is proposed to ensure the formation assembles in a finite time, and the finite-time stability is proved by the Lyapunov stability theorem. To highlight the cooperation within the heterogeneous systems, such as UAV and USV, a novel vision-based path re-planning approach is proposed. Simulation results confirm the efficiency of the proposed approach.

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“…The parameter r i to be tuned is the width of the output membership function. Substituting the above centers into Equation (30), we can obtain:…”

Section: Heterogeneous Muti-agent Unmanned System Formation Assemblementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme

Xue

2021

JMSE

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show abstract

“…In recent years, multi-agent systems (MASs) have attracted the attention of many researchers due to its wide applications in the military, transportation, and agriculture [1]. Compared with a single agent, MASs have more advantages such as high efficiency, energy-saving, high reliability, easy maintenance, and so on.…”

Section: Introductionmentioning

confidence: 99%

Dynamic event‐triggered control for leader‐following consensus of multiagent systems with the estimator

Qiu

Chen

et al. 2022

IET Control Theory & Appl

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In this paper, the leader-following consensus problem of general linear multi-agent systems with distributed dynamic event-triggered control is studied. A distributed controller with estimated states is designed and a dynamic event-triggered communication protocol with an auxiliary variable is proposed for each agent to update its triggering threshold. Under this control strategy, the systems only need the states in triggering instants as a result of the utilisation of estimated states. The existence of a dynamic threshold guarantees fewer triggering times, in contrast to the conventional static one. Meanwhile, the estimator is designed between the triggering instants to reduce the state shift, the next state of each agent depends on the local information of itself and its neighbours rather than global information. Then, the multi-agent systems can achieve consensus without Zeno behaviour. Finally, a simulation example is offered to verify the effectiveness and feasibility of the proposed approach.

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“…Recently, FFTC problem of HMASs is studied via numerous researches. The authors in References 22‐24 focus on formation fault‐tolerant problem for continuous‐time nonlinear HMASs consisting of first and second order systems. In Reference 25, the formation fault‐tolerant problem of high‐order HMASs was studied.…”

Section: Introductionmentioning

confidence: 99%

Fixed time formation control for heterogeneous multi‐agent systems with partial unknown control directions

Hou

Liu

Lan

et al. 2022

Adaptive Control & Signal

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This article studies the fixed-time time-invariant formation control problem for a class of uncertain nonlinear heterogeneous multi-agent systems (HMASs) with actuator faults and partial unknown control directions. Throughout the formation process, the possibility of actuator faults in systems and unknown control directions between individual agents are taken into account. Lipschitz conditions are introduced to identify the continuous uncertain nonlinear functions. To estimate the agents' local immeasurable states in HMASs, a distributed fixed-time observer is proposed, which can ensure that the states of follower agents are observed in fixed time. In addition, a distributed formation fault-tolerant control scheme will handle actuator faults. By designing a Nussbaum function, the problem of partial unknown control directions for HMASs can be solved in fixed time. Based on the fixed time stability theory, it is proved that the closed-loop stability and the tracking performance can be guaranteed in fixed time, that is, the achieved time is independent of any initial states. In the end, a simulation example is given to testify the effectiveness of the proposed control method. K E Y W O R D Sfault-tolerant control, fixed time partial unknown control directions, heterogeneous multi-agent systems, time-invariant formation

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Fixed-Time Fault-Tolerant Formation Control for Heterogeneous Multi-Agent Systems With Parameter Uncertainties and Disturbances

Cited by 100 publications

References 47 publications

Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme

Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme

Dynamic event‐triggered control for leader‐following consensus of multiagent systems with the estimator

Fixed time formation control for heterogeneous multi‐agent systems with partial unknown control directions

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