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.


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    Title :

    Adaptive Fault-Tolerant Control of Heterogeneous Multi-Agent Systems with Actuator Faults


    Contributors:
    Ren, Yi (author) / Zhang, Ke (author) / Jiang, Bin (author) / Ding, Yong (author)


    Publication date :

    2022-04-08


    Size :

    498484 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English