Guaranteed Synchronization Performance Control of Nonlinear Time-Delay MIMO Multiagent Systems With Actuator Faults.

Area of Science:

• Control Theory
• Nonlinear Systems
• Multiagent Systems

Background:

• Leader-follower multiagent systems are crucial in various applications.
• High-order nonlinear multiple-input-multiple-output (MIMO) dynamics present significant control challenges.
• Time delays and actuator faults degrade system performance and stability.

Purpose of the Study:

• To develop a distributed synchronization control scheme for leader-follower multiagent systems.
• To address challenges posed by high-order nonlinear MIMO dynamics, time delays, and actuator faults.
• To guarantee synchronization performance and system stability.

Main Methods:

• A distributed synchronization scheme utilizing radial basis function neural networks (RBF NN) is proposed.
• An augmented quadratic Lyapunov function is employed, incorporating control gain lower bounds and actuator health indicators.
• Techniques are developed to handle unknown time-varying control gains, actuator faults, and inter-agent coupling.

Main Results:

• The proposed scheme ensures that follower outputs track the leader's output, achieving steady-state tracking.
• Guaranteed transient synchronization performance is achieved.
• All signals within the closed-loop system are proven to be bounded, ensuring overall stability.

Conclusions:

• The developed distributed control scheme effectively achieves synchronization in leader-follower multiagent systems with complex dynamics and disturbances.
• The use of RBF NN and augmented Lyapunov functions provides a robust solution for systems with time delays and actuator faults.
• Numerical simulations confirm the controller's effectiveness and the achievement of guaranteed performance and stability.