Practical Predefined-Time Fault-Tolerant Optimal Control for Heterogeneous Multiagent Systems Under Directed Graph

This article studies the distributed predefined-time formation control problem for a specific heterogeneous multiagent system. This system includes completely different unmanned autonomous helicopters (UAHs), unmanned ground vehicles (UGVs), and autonomous underwater vehicles (AUVs) in the presence of actuator faults. First, a distributed prescribed-time observer is developed for followers to estimate the leader states, which can decrease the network flow. Then, an adaptive predefined-time fault-tolerant optimal formation controller is constructed to continuously optimize performance index and approach optimal formation tracking. Moreover, in the designed control framework, adaptive updating laws are constructed for the unknown parameters of actuator loss of efficiency and the lumped uncertainty, respectively. Compared with the relevant finite/fixed-time cooperative tracking works, here the settling time is independent of any existing control gains and the initial conditions of the studied heterogeneous multiagent systems (MASs), thus it can be uniformly prescribed. Finally, the control performance of the designed method is further illustrated by a simulation experiment.