凸壳
执行机构
控制理论(社会学)
容错
遏制(计算机编程)
计算机科学
多智能体系统
弹道
Lyapunov稳定性
同步(交流)
控制器(灌溉)
自适应控制
断层(地质)
李雅普诺夫函数
分布式计算
控制(管理)
正多边形
人工智能
数学
天文
物理
频道(广播)
地质学
非线性系统
地震学
生物
程序设计语言
量子力学
计算机网络
农学
几何学
作者
Jianye Gong,Bin Jiang,Yajie Ma,Zehui Mao
出处
期刊:IEEE transactions on cybernetics
[Institute of Electrical and Electronics Engineers]
日期:2023-12-01
卷期号:53 (12): 7787-7799
被引量:3
标识
DOI:10.1109/tcyb.2022.3218377
摘要
This article proposes a distributed adaptive fault-tolerant formation–containment control with prescribed performance for heterogeneous multiagent systems (MASs) consisting of multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in the presence of actuator faults. First, utilizing the neighborhood formation error information, the distributed fault-tolerant formation control strategy is developed for the trajectory dynamics of each UAV to achieve the formation tracking, that is, all UAVs track the virtual leader and perform the prespecified formation configuration. Then, the adaptive fault-tolerant containment algorithm, independent of the positions of the leaders, is proposed to guarantee the UGVs converge to the convex hull formed by the leader UAVs. The adaptive estimation scheme is constructed to compensate for the unknown system parameters and actuator loss-of-effectiveness and bias faults. The formation–containment tracking performance is analyzed based on Lyapunov theory with the synchronization errors satisfying the prescribed performance. A simulation example based on UAVs–UGVs systems is adopted to verify the effectiveness of the proposed control strategy.
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