The formation control of heterogeneous multiagent systems that are subjected to actuator faults is addressed in this work. To prevent the spread of faults among agents, a hierarchical design approach is utilized. In the upper layer, distributed prescribed-time observers are presented to estimate the leader's trajectory for followers on directed graphs. In the lower layer, adaptive fault-tolerant controllers are provided for the heterogeneous multiagent systems subjected to partial effectiveness loss faults based on the fully actuated system model. Contrary to the results of fault-tolerant control that are already in use, the proposed method enables formation errors to zero within a predetermined time that can be set freely. What is more, the estimated errors of efficiency factors are bounded. Finally, simulation results are provided to show the suggested protocol's availability.


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    Titel :

    Prescribed-Time Fault-Tolerant Control for Fully Actuated Heterogeneous Multiagent Systems: A Hierarchical Design Approach


    Beteiligte:
    Ma, Yonghao (Autor:in) / Zhang, Ke (Autor:in) / Jiang, Bin (Autor:in)


    Erscheinungsdatum :

    2023-10-01


    Format / Umfang :

    2909285 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch