Distributed adaptive finite-time fault-tolerant cooperative control of heterogeneous multi-agent systems with saturation and disturbances - Details

author：

Liu, Shangkun (Liu, Shangkun.) ^[1] | Jiang, Bin (Jiang, Bin.) ^[2] | Mao, Zehui (Mao, Zehui.) ^[3] | Zhang, Youmin (Zhang, Youmin.) ^[4] | Huang, Jie (Huang, Jie.) ^[5]

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Abstract：

In　this　paper,　the　issue　of　distributed　adaptive　finite-time　fault-tolerant　cooperative　control　(FT-FTCC)　problem　is　investigated　for　multiple　unmanned　aerial　vehicles　(UAVs)　and　unmanned　ground　vehicles　(UGVs)　with　unknown　parameter　uncertainties,　actuator　faults,　input　saturation　and　external　disturbances.　Starting　from　the　dynamic　models　of　the　UAVs　and　UGVs,　an　unified　control　model　is　presented.　Then,　a　sliding-mode　estimator　is　presented　to　estimate　the　position　of　the　leader　for　the　followers　which　only　uses　the　information　from　neighbours.　Next,　a　distributed　adaptive　FT-FTCC　scheme,　which　can　also　deal　with　the　uncertainties,　actuator　faults,　input　saturation　and　disturbances,　is　proposed　by　utilising　disturbance　observers　and　neural　networks.　Based　on　Lyapunov　function　approach,　the　tracking　errors　of　all　followers　subject　to　the　pre-defined　desired　positions　are　uniformly　ultimately　bounded.　Finally,　simulations　are　given　to　validate　the　efficiency　of　the　developed　FT-FTCC　scheme.　©　2024　Informa　UK　Limited,　trading　as　Taylor　&　Francis　Group.

Keyword：

Adaptive control systems Air cushion vehicles Lyapunov functions Magnetic levitation vehicles Radial basis function networks Time varying control systems Unmanned aerial vehicles (UAV)

Community：

[ 1 ] [Liu, Shangkun]College of Electrical Engineering and Automation, Fuzhou University, Fujian, Fuzhou, China
[ 2 ] [Jiang, Bin]College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Jiangsu, Nanjing, China
[ 3 ] [Mao, Zehui]College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Jiangsu, Nanjing, China
[ 4 ] [Zhang, Youmin]Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, Canada
[ 5 ] [Huang, Jie]College of Electrical Engineering and Automation, Fuzhou University, Fujian, Fuzhou, China

Reprint 's Address：

[huang, jie]college of electrical engineering and automation, fuzhou university, fujian, fuzhou, china

Email：

jie.huang@fzu.edu.cn

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Source ：

International Journal of Systems Science

ISSN： 0020-7721

Year： 2025

Issue： 7

Volume： 56

Page： 1442-1456

4 . 9 0 0

JCR@2023

CAS Journal Grade：4

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ESI Highly Cited Papers on the List： 0 Unfold All

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30 Days PV： 0

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