Distributed Adaptive Fault-Tolerant Formation-Containment Control With Prescribed Performance for Heterogeneous...

Area of Science:

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

Background:

• Heterogeneous multiagent systems (MASs) face challenges in coordinated control, especially with actuator faults.
• Achieving simultaneous formation tracking and containment is complex in dynamic environments.

Purpose of the Study:

• To develop a distributed adaptive fault-tolerant formation-containment control strategy for MASs with UAVs and UGVs.
• To ensure robust performance under actuator faults and unknown system parameters.

Main Methods:

• A distributed fault-tolerant formation control strategy for UAVs using neighborhood formation error.
• An adaptive fault-tolerant containment algorithm for UGVs, independent of leader positions.
• An adaptive estimation scheme to compensate for actuator faults (loss-of-effectiveness, bias) and system uncertainties.

Main Results:

• UAVs achieve formation tracking of a virtual leader with a prespecified configuration.
• UGVs converge to the convex hull formed by leader UAVs.
• Prescribed performance for synchronization errors is guaranteed using Lyapunov stability analysis.

Conclusions:

• The proposed control strategy effectively achieves formation-containment for heterogeneous MASs.
• The adaptive fault-tolerant approach enhances system resilience against actuator failures.
• Simulation results validate the effectiveness for UAV-UGV systems.