Distributed fault-tolerant time-varying formation control for high-order linear multi-agent systems with actuator
Yongzhao Hua1, Xiwang Dong1, Qingdong Li1
1School of Automation Science and Electrical Engineering, Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing, 100191, P.R. China.
ISA Transactions
|July 4, 2017
Summary
This study presents a fault-tolerant control protocol for multi-agent systems facing actuator failures. Adaptive strategies ensure robust formation control without needing global topology information or known failure bounds.
Area of Science:
- Control Systems Engineering
- Robotics
- Distributed Systems
Background:
- Multi-agent systems are crucial for complex tasks.
- Actuator failures pose significant challenges to system control.
- Maintaining formation in dynamic environments is complex.
Purpose of the Study:
- To develop a fault-tolerant control strategy for high-order linear multi-agent systems.
- To address actuator failures, including bias and loss-of-effectiveness faults.
- To enable adaptive, distributed control without prior knowledge of system parameters or topology.
Main Methods:
- A fully distributed formation control protocol using adaptive online updating strategies.
- An algorithm for determining fault-tolerant control parameters.
- Lyapunov-like theory for stability analysis.
Main Results:
- The proposed protocol effectively compensates for actuator faults.
- Adaptive strategies eliminate the need for global communication topology knowledge.
- The control algorithm is proven stable, ensuring reliable system operation.
- Feasible formation conditions are established and the feasible set is expandable.
Conclusions:
- The developed fault-tolerant control strategy is effective for high-order linear multi-agent systems.
- The adaptive approach enhances system resilience against unknown actuator failures.
- Simulation examples validate the theoretical findings and practical applicability.
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