Journal ArticleDOI
Cooperative Adaptive Fuzzy Tracking Control for Networked Unknown Nonlinear Multiagent Systems With Time-Varying Actuator Faults
TLDR
A novel CAFTFTC scheme is proposed to guarantee that all follower nodes asymptotically synchronize a leader node with tracking errors converging to a small adjustable neighborhood of the origin in spite of actuator faults.Abstract:
In this paper, the cooperative adaptive fault tolerant fuzzy tracking control (CAFTFTC) problem of networked high-order multiagent with time-varying actuator faults is studied, and a novel CAFTFTC scheme is proposed to guarantee that all follower nodes asymptotically synchronize a leader node with tracking errors converging to a small adjustable neighborhood of the origin in spite of actuator faults. The leader node is modeled as a higher order nonautonomous nonlinear system. It acts as a command generator giving commands only to a small portion of the networked group. Each follower is assumed to have nonidentical unknown nonlinear dynamics, and the communication network is also assumed to be a weighted directed graph with a fixed topology. A distributed robust adaptive fuzzy controller is designed for each follower node such that the tracking errors are cooperative uniform ultimate boundedness (CUUB). Moreover, these controllers are distributed in the sense that the controller designed for each follower node only requires relative state information between itself and its neighbors. The adaptive compensation term of the optimal approximation errors and external disturbances is adopted to reduce the effects of the errors and disturbances, which removes the assumption that the upper bounds of unknown function approximation errors and disturbances should be known. Analysis of stability and parameter convergence of the proposed algorithm are conducted that are based on algebraic graph theory and Lyapunov theory. Comparing with results in the literature, the CAFTFTC scheme can minimize the time delay between fault occurrence and accommodation and reduce its adverse effect on system performance. In addition, the FTC scheme requires no additional fault isolation model, which is necessary in the traditional active FTC scheme. Finally, an example is provided to validate the theoretical results.read more
Citations
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Journal ArticleDOI
Fault tolerant finite-time leader-follower formation control for autonomous surface vessels with LOS range and angle constraints
TL;DR: It is shown that under the proposed control method, despite the presence of actuator faults and system uncertainties, the formation tracking errors can converge into arbitrarily small neighborhoods around zero in finite time, while the constraint requirements on the LOS range and angle will not be violated.
Journal ArticleDOI
Distributed finite-time containment control for double-integrator multiagent systems.
Xiangyu Wang,Shihua Li,Peng Shi +2 more
TL;DR: In this paper, the distributed finite-time containment control problem for double-integrator multiagent systems with multiple leaders and external disturbances is discussed and algorithms designed to guarantee that the states of the followers converge to the dynamic convex hull spanned by those of the leaders in finite time are proposed.
Journal ArticleDOI
Distributed Cooperative Optimal Control for Multiagent Systems on Directed Graphs: An Inverse Optimal Approach
TL;DR: The inverse optimal approach is employed to design distributed consensus protocols that guarantee consensus and global optimality with respect to some quadratic performance indexes for identical linear systems on a directed graph.
Journal ArticleDOI
Adaptive Neural Networks Decentralized FTC Design for Nonstrict-Feedback Nonlinear Interconnected Large-Scale Systems Against Actuator Faults
Yongming Li,Shaocheng Tong +1 more
TL;DR: A novel NN adaptive output-feedback FTC approach is developed that can guarantee that all signals in all subsystems are bounded, and the tracking errors for each subsystem converge to a small neighborhood of zero.
Journal ArticleDOI
Fuzzy Observed-Based Adaptive Consensus Tracking Control for Second-Order Multiagent Systems With Heterogeneous Nonlinear Dynamics
TL;DR: F fuzzy logic system is introduced to approximate the unknown nonlinear dynamics, and adaptive high-gain observer is designed to estimate the unmeasured states and it is proved that all the signals in the multiagent systems are semiglobally uniformly ultimately bounded.
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