Resilient exponential tracking for disturbed systems with communication links faults

Area of Science:

• Control Systems Engineering
• Robotics
• Aerospace Engineering

Background:

• Resilience is crucial for disturbed systems to maintain cooperative performance.
• Euler-Lagrange systems face challenges from unknown time-variant faults in communication interactions.
• Existing methods may struggle with precise disturbance estimation and communication link faults.

Purpose of the Study:

• To improve exponential tracking resilience in disturbed Euler-Lagrange systems.
• To develop observers resilient to communication interaction malfunctions.
• To design a control framework that accommodates communication link faults and disturbances.

Main Methods:

• Transforming the resilient exponential tracking problem into designing trajectory and velocity observers for leaders.
• Developing a disturbance observer to precisely estimate disturbances without needing their upper bound.
• Incorporating reliable observers and estimators into a resilient tracking control framework.
• Utilizing Lyapunov theory for global exponential stabilization.

Main Results:

• Proposed observers demonstrate resilience to communication interaction malfunctions.
• The disturbance observer accurately estimates disturbances, irrespective of their upper bounds.
• The integrated control framework achieves satisfactory resilient exponential tracking performance.
• Simulations on satellite systems validate the effectiveness of the resilient approaches.

Conclusions:

• The developed observers and disturbance estimator enhance the resilience of Euler-Lagrange systems.
• The control framework effectively handles communication link faults and disturbances.
• The proposed methods ensure global exponential stabilization and reliable tracking performance.