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Adaptive observer-based bipartite tracking consensus for nonlinear multi-agent systems with unknown sensor failures.

Yun Chen1, Huiling Xu1, Zhiping Lin2

  • 1School of Mathematics and Statistics, Nanjing University of Science and Technology, Nanjing, 210094, China.

ISA Transactions
|April 18, 2025
PubMed
Summary
This summary is machine-generated.

This study addresses bipartite tracking consensus in nonlinear multi-agent systems. Adaptive control and observers ensure system stability despite unknown sensor failures.

Keywords:
Adaptive observerCooperative–competitive interactionsNonlinear multi-agent systemsUnknown sensor failure

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Area of Science:

  • Control Systems Engineering
  • Nonlinear Systems Analysis
  • Multi-Agent Systems

Background:

  • Bipartite tracking consensus (BTC) is crucial for coordinating multi-agent systems.
  • Nonlinear dynamics and sensor failures pose significant challenges to achieving BTC.
  • Existing methods often require stringent conditions on system nonlinearities.

Purpose of the Study:

  • To investigate the bipartite tracking consensus (BTC) problem for nonlinear multi-agent systems (NMASs).
  • To develop robust control strategies that accommodate unknown sensor failures.
  • To relax constraints on nonlinear dynamics within signed graph frameworks.

Main Methods:

  • A general lemma extending the differential mean value theorem was introduced.
  • An adaptive controller was designed for bounded BTC in NMASs.
  • An adaptive observer was developed to estimate states and failure factors during sensor malfunctions.

Main Results:

  • The proposed adaptive controller ensures bounded BTC for NMASs.
  • The adaptive observer successfully estimates uncompromised states and failure factors.
  • The integrated observer-controller system maintains bounded BTC even with unknown sensor failures.

Conclusions:

  • The developed methods effectively achieve bounded bipartite tracking consensus in nonlinear multi-agent systems.
  • The approach offers robustness against unknown sensor failures.
  • Simulation examples validate the proposed adaptive control and observer strategies.