Distributed Resilient Tracking of Multiagent Systems Under Actuator and Sensor Faults
IEEE Transactions on Cybernetics
|December 24, 2021
Summary
This study introduces a novel control protocol to ensure multiagent systems (MASs) maintain resilient tracking despite actuator and sensor faults. The developed adaptive system effectively compensates for these faults, ensuring system stability and accurate tracking.
Area of Science:
- Control Systems Engineering
- Artificial Intelligence
- Robotics
Background:
- Multiagent systems (MASs) face challenges in maintaining coordinated behavior due to potential actuator and sensor faults.
- Existing control strategies may not adequately address fault tolerance in distributed MASs with directed communication topologies.
- The need for robust control solutions that can adapt to and compensate for system failures is critical for reliable MAS operation.
Purpose of the Study:
- To investigate the distributed resilient tracking problem for MASs experiencing actuator and sensor faults.
- To develop a novel distributed adaptive resilient control protocol capable of compensating for both actuator and sensor faults.
- To ensure bounded system signals and bounded tracking errors within an adjustable region.
Main Methods:
- Introduction of fault compensators utilizing local information within the MAS.
- Development of a distributed adaptive resilient control protocol based on fuzzy-logic systems (FLSs).
- Application of a modification technique for adaptive law to enhance fault compensation.
- Analysis of system stability and tracking error bounds.
Main Results:
- The proposed control protocol effectively compensates for the effects of actuator and sensor faults.
- All signals within the multiagent systems are demonstrated to be bounded.
- Tracking errors converge to an adjustable bounded region around the origin, indicating successful resilient tracking.
- Simulation results validate the theoretical findings and demonstrate the protocol's effectiveness.
Conclusions:
- The developed distributed adaptive resilient control protocol enhances the fault tolerance of MASs.
- The approach ensures robust tracking performance even in the presence of significant actuator and sensor failures.
- The findings provide a valuable framework for designing resilient control systems for complex multiagent applications.
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