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Adaptive Fault-Tolerant Formation Control of Heterogeneous Multi-Agent Systems under Directed Communication Topology.

Shangkun Liu^1,2, Bin Jiang^1,2, Zehui Mao^1,2

¹College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China.

Sensors (Basel, Switzerland)

|August 26, 2022

Summary

This study presents an adaptive fault-tolerant control for heterogeneous multi-agent systems (UAVs and USVs), ensuring stable formation despite actuator faults and uncertainties. The proposed scheme guarantees reliable formation control for unmanned systems.

Keywords:

actuator faults external disturbances fault-tolerant formation control heterogeneous multi-agent systems neural networks

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Area of Science:

Robotics and Control Systems
Multi-Agent Systems
Fault-Tolerant Control

Background:

Heterogeneous multi-agent systems (MAS) comprising unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) face challenges from actuator faults, parameter uncertainties, and external disturbances.
Ensuring reliable and coordinated formation control in such systems under directed communication topologies is crucial for various applications.
Existing control schemes often struggle to address the complexities of fault tolerance and heterogeneity simultaneously.

Purpose of the Study:

To develop an adaptive fault-tolerant formation control scheme for heterogeneous MAS (UAVs and USVs).
To address actuator faults, parameter uncertainties, and external disturbances within a directed communication framework.
To achieve stable and accurate time-varying formation control for the integrated system.

Main Methods:

Unified modeling of UAVs and USVs, incorporating actuator faults.
Design of a distributed fault-tolerant formation controller using adaptive updating laws and radial basis function neural networks for the XY plane.
Development of a decentralized formation-tracking controller for UAV altitude control, validated using Lyapunov stability theory.

Main Results:

The proposed adaptive scheme effectively manages actuator faults, parameter uncertainties, and external disturbances.
Formation errors and tracking errors are proven to be uniformly ultimately bounded.
The controllers ensure the achievement of the desired time-varying formation for the heterogeneous multi-agent system.

Conclusions:

The adaptive fault-tolerant formation control scheme is effective for heterogeneous UAV-USV systems.
The method ensures robust performance and stability under challenging conditions, including faults and uncertainties.
Simulation results validate the practical applicability and effectiveness of the proposed control strategy.