TY - GEN
T1 - Fault-Tolerant Leader-Following Consensus Control for Fully Actuated Multi-agent Systems Based on Prescribed-Time Observer
AU - Liu, Yang
AU - Zhang, Jiaming
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.
PY - 2024
Y1 - 2024
N2 - This paper studies the adaptive distributed leader-following consensus control problem for nonlinear high-order fully actuated (HOFA) multi-agent systems (MASs) with uncertainties and actuator failures. Based on the knowledge of directed graph theory (DGT), a distributed prescribed-time observer is constructed for each follower to estimate the desired leader’s trajectory, which can realize zero-error estimation within any given time. Then, for each follower, by using the adaptive control method and the HOFA system approach, the designed tracking controller can ensure the HOFA MASs realize the leader-following consensus in a cooperatively ultimately uniformly bounded sense. Finally, the simulation studies demonstrate the availability of the proposed schemes.
AB - This paper studies the adaptive distributed leader-following consensus control problem for nonlinear high-order fully actuated (HOFA) multi-agent systems (MASs) with uncertainties and actuator failures. Based on the knowledge of directed graph theory (DGT), a distributed prescribed-time observer is constructed for each follower to estimate the desired leader’s trajectory, which can realize zero-error estimation within any given time. Then, for each follower, by using the adaptive control method and the HOFA system approach, the designed tracking controller can ensure the HOFA MASs realize the leader-following consensus in a cooperatively ultimately uniformly bounded sense. Finally, the simulation studies demonstrate the availability of the proposed schemes.
KW - fault-tolerant control
KW - High-order fully actuated systems
KW - leader-following consensus
KW - prescribed-time observer
UR - https://www.scopus.com/pages/publications/85209795117
U2 - 10.1007/978-981-97-8658-9_29
DO - 10.1007/978-981-97-8658-9_29
M3 - 会议稿件
AN - SCOPUS:85209795117
SN - 9789819786572
T3 - Lecture Notes in Electrical Engineering
SP - 302
EP - 310
BT - Proceedings of 2024 Chinese Intelligent Systems Conference
A2 - Jia, Yingmin
A2 - Zhang, Weicun
A2 - Fu, Yongling
A2 - Yang, Huihua
PB - Springer Science and Business Media Deutschland GmbH
T2 - 20th Chinese Intelligent Systems Conference, CISC 2024
Y2 - 26 October 2024 through 27 October 2024
ER -