Distributed Fault-Tolerant Formation Tracking Control for Multiagent Systems With Multiple Leaders and Constrained...

Area of Science:

• Robotics and Control Systems
• Distributed Systems
• Fault-Tolerant Control

Background:

• Multiagent systems require coordinated control for formation tracking.
• Actuator faults and saturation pose significant challenges to system stability and performance.
• Existing control strategies often struggle with dynamic reconfigurations and fault accommodation.

Purpose of the Study:

• To develop a distributed formation tracking control strategy for multiagent systems with multiple leaders.
• To address challenges posed by actuator faults and saturation in cooperative control.
• To ensure followers can achieve a desired time-varying formation and track leaders robustly.

Main Methods:

• An active reconfigurable control scheme utilizing local agent information and fault estimation observers.
• Adaptive control techniques combined with Lyapunov stability and Laplacian matrix properties for gain calculation.
• Modification of the control protocol with anti-windup compensators to mitigate actuator saturation effects.

Main Results:

• The proposed scheme effectively manages actuator faults and saturation phenomena.
• Simulation results demonstrate the successful achievement of formation tracking objectives.
• The adaptive control ensures stability and feasibility under specified conditions.

Conclusions:

• The developed fault-tolerant control scheme is effective for distributed formation tracking in multiagent systems.
• The integration of reconfigurable control, fault estimation, and anti-windup compensators enhances system robustness.
• This approach provides a viable solution for real-world applications facing actuator limitations and faults.