In this paper, a leader-following formation control for second-order multi-agent systems under communication faults/failures is presented. Communication faults/failures are considered dependent on the distance between the agents as smooth time-varying delays. Linear matrix inequality conditions are obtained for computing a control gain which guarantee stability when communication faults occur. Under the framework of control synthesis applied to time-varying delay multi-agent systems, the main contribution in this paper is the design of a leader-following formation control for second-order multi-agent systems such that all the faulty agents achieve the trajectories of a virtual agent and maintain a desired formation despite communication faults. A comparison between the classical formation control and our strategy is considered through numerical examples.
Leader-Following Formation Control for Networked Multi-agent Systems Under Communication Faults/Failures
Studies in Systems, Decision and Control
2020-12-13
13 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch