In this paper, the time-varying formation control of heterogeneous multi-agent systems (HMASs) under a virtual leader is studied. The HMASs consist of an unmanned aerial vehicle (UAV) and multiple unmanned ground vehicles (UGVs). A fault-tolerant control mechanism based on adaptive technique and the radial basis function neural networks (RBFNNs) is proposed. In addition to the time-varying formation control of HMAS, the proposed control method can also accomplish the attitude control of the UAV. Finally, the effectiveness of the controllers is validated by simulation results.
Adaptive Fault-Tolerant Control of Heterogeneous Multi-Agent Systems with Actuator Faults
2022-04-08
498484 byte
Conference paper
Electronic Resource
English
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SAGE Publications | 2019
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