Adaptive Fault-Tolerant Formation Control of Heterogeneous Multi-Agent Systems under Directed Communication Topology
This paper investigates the adaptive fault-tolerant formation control scheme for heterogeneous multi-agent systems consisting of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) with actuator faults, parameter uncertainties and external disturbances under directed communication t...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-08-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/22/16/6212 |
| _version_ | 1797408068056645632 |
|---|---|
| author | Shangkun Liu Bin Jiang Zehui Mao Yajie Ma |
| author_facet | Shangkun Liu Bin Jiang Zehui Mao Yajie Ma |
| author_sort | Shangkun Liu |
| collection | DOAJ |
| description | This paper investigates the adaptive fault-tolerant formation control scheme for heterogeneous multi-agent systems consisting of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) with actuator faults, parameter uncertainties and external disturbances under directed communication topology. Firstly, the dynamic models of UAVs and USVs are introduced, and a unified heterogeneous multi-agent system model with actuator faults is established. Then, a distributed fault-tolerant formation controller is proposed for the unified model of UAVs and USVs in the <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>X</mi><mi>Y</mi></mrow></semantics></math></inline-formula> plane by using adaptive updating laws and radial basis function neural network. After that, a decentralized formation-tracking controller is designed for the altitude control system of UAVs. Based on the Lyapunov stability theory, it can be proved that the formation errors and tracking errors are uniformly ultimately bounded which means that the expected time-varying formation is achieved. Finally, a simulation study is given to demonstrate the effectiveness of the proposed scheme. |
| first_indexed | 2024-03-09T03:52:00Z |
| format | Article |
| id | doaj.art-eacfece598184933874c608d8ed071ce |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T03:52:00Z |
| publishDate | 2022-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-eacfece598184933874c608d8ed071ce2023-12-03T14:27:14ZengMDPI AGSensors1424-82202022-08-012216621210.3390/s22166212Adaptive Fault-Tolerant Formation Control of Heterogeneous Multi-Agent Systems under Directed Communication TopologyShangkun Liu0Bin Jiang1Zehui Mao2Yajie Ma3College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaThis paper investigates the adaptive fault-tolerant formation control scheme for heterogeneous multi-agent systems consisting of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) with actuator faults, parameter uncertainties and external disturbances under directed communication topology. Firstly, the dynamic models of UAVs and USVs are introduced, and a unified heterogeneous multi-agent system model with actuator faults is established. Then, a distributed fault-tolerant formation controller is proposed for the unified model of UAVs and USVs in the <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>X</mi><mi>Y</mi></mrow></semantics></math></inline-formula> plane by using adaptive updating laws and radial basis function neural network. After that, a decentralized formation-tracking controller is designed for the altitude control system of UAVs. Based on the Lyapunov stability theory, it can be proved that the formation errors and tracking errors are uniformly ultimately bounded which means that the expected time-varying formation is achieved. Finally, a simulation study is given to demonstrate the effectiveness of the proposed scheme.https://www.mdpi.com/1424-8220/22/16/6212fault-tolerant formation controlheterogeneous multi-agent systemsactuator faultsexternal disturbancesneural networks |
| spellingShingle | Shangkun Liu Bin Jiang Zehui Mao Yajie Ma Adaptive Fault-Tolerant Formation Control of Heterogeneous Multi-Agent Systems under Directed Communication Topology Sensors fault-tolerant formation control heterogeneous multi-agent systems actuator faults external disturbances neural networks |
| title | Adaptive Fault-Tolerant Formation Control of Heterogeneous Multi-Agent Systems under Directed Communication Topology |
| title_full | Adaptive Fault-Tolerant Formation Control of Heterogeneous Multi-Agent Systems under Directed Communication Topology |
| title_fullStr | Adaptive Fault-Tolerant Formation Control of Heterogeneous Multi-Agent Systems under Directed Communication Topology |
| title_full_unstemmed | Adaptive Fault-Tolerant Formation Control of Heterogeneous Multi-Agent Systems under Directed Communication Topology |
| title_short | Adaptive Fault-Tolerant Formation Control of Heterogeneous Multi-Agent Systems under Directed Communication Topology |
| title_sort | adaptive fault tolerant formation control of heterogeneous multi agent systems under directed communication topology |
| topic | fault-tolerant formation control heterogeneous multi-agent systems actuator faults external disturbances neural networks |
| url | https://www.mdpi.com/1424-8220/22/16/6212 |
| work_keys_str_mv | AT shangkunliu adaptivefaulttolerantformationcontrolofheterogeneousmultiagentsystemsunderdirectedcommunicationtopology AT binjiang adaptivefaulttolerantformationcontrolofheterogeneousmultiagentsystemsunderdirectedcommunicationtopology AT zehuimao adaptivefaulttolerantformationcontrolofheterogeneousmultiagentsystemsunderdirectedcommunicationtopology AT yajiema adaptivefaulttolerantformationcontrolofheterogeneousmultiagentsystemsunderdirectedcommunicationtopology |