Multi-group formation tracking fault-tolerant control for matched nonlinear multi-agent systems with switching topologies and unknown control inputs

IF 17.7 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY Accounts of Chemical Research Pub Date : 2024-04-14 DOI:10.1177/01423312241235470

Xiaojing Wu, Zhenan Guo, Ran Zhen, Xiaoyuan Luo

{"title":"Multi-group formation tracking fault-tolerant control for matched nonlinear multi-agent systems with switching topologies and unknown control inputs","authors":"Xiaojing Wu, Zhenan Guo, Ran Zhen, Xiaoyuan Luo","doi":"10.1177/01423312241235470","DOIUrl":null,"url":null,"abstract":"The multi-group formation fault-tolerant control problem for high-order nonlinear multi-agent systems with parameter uncertainties, unknown external disturbances, switching topologies, and non-cooperative targets are investigated in this paper. A fully distributed formation tracking control protocol is proposed based on the total interaction information between subgroups being zero and the neighboring relative information of multi-agent in the subgroups. In addition, an algorithm is proposed to design the parameters of time-varying formation tracking control protocol. At the same time, it does not require knowing the bounds of actuator faults, parameter uncertainties, control inputs of the leaders, and unknown disturbances. Then, it is proved that the designed control protocols can make the high-order nonlinear multi-agent systems accomplish the desired time-varying multi-group formation, and the errors are uniformly asymptotically bounded stable. Finally, the effectiveness of the designed control protocol is demonstrated by simulation examples of three subgroups.","PeriodicalId":1,"journal":{"name":"Accounts of Chemical Research","volume":"66 1","pages":""},"PeriodicalIF":17.7000,"publicationDate":"2024-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Accounts of Chemical Research","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1177/01423312241235470","RegionNum":1,"RegionCategory":"化学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"CHEMISTRY, MULTIDISCIPLINARY","Score":null,"Total":0}

引用次数: 0

Abstract

The multi-group formation fault-tolerant control problem for high-order nonlinear multi-agent systems with parameter uncertainties, unknown external disturbances, switching topologies, and non-cooperative targets are investigated in this paper. A fully distributed formation tracking control protocol is proposed based on the total interaction information between subgroups being zero and the neighboring relative information of multi-agent in the subgroups. In addition, an algorithm is proposed to design the parameters of time-varying formation tracking control protocol. At the same time, it does not require knowing the bounds of actuator faults, parameter uncertainties, control inputs of the leaders, and unknown disturbances. Then, it is proved that the designed control protocols can make the high-order nonlinear multi-agent systems accomplish the desired time-varying multi-group formation, and the errors are uniformly asymptotically bounded stable. Finally, the effectiveness of the designed control protocol is demonstrated by simulation examples of three subgroups.

查看原文

微信好友朋友圈 QQ好友复制链接

本刊更多论文

具有开关拓扑和未知控制输入的匹配非线性多代理系统的多组编队跟踪容错控制

本文研究了具有参数不确定性、未知外部干扰、开关拓扑和非合作目标的高阶非线性多代理系统的多组编队容错控制问题。基于子群间的总交互信息为零以及子群中多机器人的相邻相对信息，提出了一种全分布式编队跟踪控制协议。此外，还提出了一种设计时变编队跟踪控制协议参数的算法。同时，该算法无需知道执行器故障、参数不确定性、领导者控制输入和未知干扰的边界。然后，证明了所设计的控制协议能使高阶非线性多代理系统完成所需的时变多组编队，并且误差是均匀渐近有界稳定的。最后，通过三个子群的仿真实例证明了所设计控制协议的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文去求助

来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.