Distributed Event-Triggered Output-Feedback Time-Varying Formation Fault-Tolerant Control for Nonlinear Multi-Agent Systems

IEEE Transactions on Automation Science and Engineering, Journal Year: 2024, Volume and Issue: 22, P. 3810 - 3821

Published: May 27, 2024

This paper studies the event-triggered time-varying formation control problem for nonlinear multi-agent systems with actuator faults. Based on neural network approximation technique, a observer is constructed to estimate unmeasured states of systems. Then, distributed adaptive manner proposed utilizing intermittent estimated information from agent and its neighbors. To overcome that triggering leads virtual laws non-differentiable, continuous scheme under regular output-feedback designed firstly, upon which controller by replacing ones. It shown fault-tolerant can compensate faults, all signals in closed-loop are semi-globally uniformly ultimately bounded. Finally, simulation results practical example given verify effectiveness manner. Note Practitioners —Formation has broad application prospects modern military civilian fields, such as combat aircraft flying formation, satellite autonomous vehicle etc. In systems, when agents occur it may break original even cause collision between agents. As result, security facing great challenges engineering applications. On other hand, communication bandwidth limited how make quickly form become key topic. Inspired above discussions, state-triggered this paper, faults compensated using technology. Meanwhile, sufficiently save usage system resources, dual-channel mechanism designed.

Language: Английский

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Fuzzy Adaptive Finite-Time Event-Triggered Control of Time-Varying Formation for Nonholonomic Multirobot Systems

IEEE Transactions on Intelligent Vehicles, Journal Year: 2023, Volume and Issue: 9(1), P. 725 - 737

Published: Aug. 10, 2023

This article studies the problem of fuzzy adaptive finite-time event-triggered time-varying formation tracking control for nonholonomic multirobot systems with multiple constraints. The method and logic (FLSs) are employed to approximate unknown nonlinear functions in robotic dynamics. Considering limitations robot's vision field communication distance, a universal barrier function prescribed performance technique introduced achieve collision avoidance connectivity maintenance. Furthermore, order save resources information transmission reduce number actuators executions reasonably, an mechanism is designed. robots can interact their leader at event-triggering time, also quickly track leader's trajectory finite time. With aid dynamic surface technique, (FTET) scheme further proposed, which guarantees that errors converge into small neighborhood zero all signals controlled bounded. Ultimately, we demonstrate feasibility FTET systems.

Language: Английский

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Data-Driven Event-Triggered Control for Nonlinear Multi-Agent Systems With Uniform Quantization

IEEE Transactions on Circuits & Systems II Express Briefs, Journal Year: 2023, Volume and Issue: 71(2), P. 712 - 716

Published: Aug. 17, 2023

In this brief, a data-driven event-triggered control algorithm is developed for the unknown discrete-time nonlinear multi-agent systems (MASs) with encoding-decoding uniform quantization. Firstly, an condition MASs established based on model-free adaptive (MFAC) to reduce update times of controller. Secondly, quantization mechanism designed compress volume communication data between agents. Then, MFAC proposed quantization, which completely without relying any information from system model or structure. Through convergence analysis, it proved that tracking errors are bounded. Finally, simulation results illustrate feasibleness algorithm.

Language: Английский

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Fuzzy Adaptive Fault-Tolerant Formation Control for USVs With Intermittent Actuator Faults

IEEE Transactions on Intelligent Vehicles, Journal Year: 2024, Volume and Issue: 9(3), P. 4445 - 4455

Published: Jan. 25, 2024

This paper addresses the problem of fuzzy adaptive formation tracking control for underactuated unmanned surface vehicles (USVs) with multiple constraints and intermittent actuator faults. Each vehicle is affected by unknown nonlinear dynamics external time-varying disturbance, logic systems (FLSs) are applied to approximate them. With help prescribed performance (PPC) technique, collision avoidance connectivity preservation among neighboring can be achieved constructing constraint conditions errors. Then, combining dynamic (DSC) PPC techniques, a novel robust fault-tolerant (FTC) strategy presented, which demonstrates all signals controlled system uniformly ultimately bounded (UUB) selecting appropriate design parameters. Moreover, issue faults also solved. The effectiveness proposed theory verified through simulation results.

Language: Английский

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Fuzzy weight-based secure formation control for two-order heterogeneous multi-agent systems via reinforcement learning

Information Sciences, Journal Year: 2024, Volume and Issue: unknown, P. 121782 - 121782

Published: Dec. 1, 2024

Language: Английский

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Finite-Time Fuzzy Adaptive Dynamic Event-Triggered Formation Tracking Control for USVs With Actuator Faults and Multiple Constraints

IEEE Transactions on Industrial Informatics, Journal Year: 2023, Volume and Issue: 20(4), P. 5285 - 5296

Published: Nov. 28, 2023

This article investigates the finite-time fuzzy adaptive dynamic event-triggered (DET) formation tracking control problem for underactuated unmanned surface vehicles (USVs) subjected to multiple constraints and intermittent actuator faults. The models of USVs contain unknown nonlinear dynamics, so logic systems are employed estimate them. Meanwhile, considering frequent updating actual input, a DET strategy is designed, which can improve communication resource utilization. Subsequently, based on theory stability prescribed performance technique, new robust fault-tolerant algorithm presented, not only solve faults USVs, but also has merits avoiding collision preserving connectivity. In addition, it ensures all signals bounded in finite time. simulation results verify feasibility proposed method.

Language: Английский

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Embedded-Adaptive-Observer-Based $H_\infty$ Integrated Fault Estimation and Memory Fault-Tolerant Control for Nonlinear Delayed Implicit Robotic Arm

IEEE Transactions on Industrial Informatics, Journal Year: 2024, Volume and Issue: 20(6), P. 8317 - 8327

Published: March 14, 2024

This article lays the spotlight on embedded-adaptive-observer-based $H_\infty$ integrated fault estimation and memory fault-tolerant control for a nonlinear delayed implicit robotic arm. To tackle nonlinearity of system, prototypical Takagi–Sugeno fuzzy method is deployed. An embedded adaptive proportional–integral observer program proposed to implement simultaneous original system states, sensor faults, actuator faults via fault-embedded technique, embedding into states allowing them be transformed new substates. The development fresh Lyapunov–Krasovskii functional with time delays, Markov jump modes, information creates firm groundwork outcome meeting stochastic admissibility performance metrics. Novel observer-based memory-aware controller engineered by taking form linear matrix inequalities compensate impact perturbations, faults. illustrate validity put forward, single-link arm device offered as an example finally.

Language: Английский

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Formation Control for an UAV Team With Environment-Aware Dynamic Constraints

IEEE Transactions on Intelligent Vehicles, Journal Year: 2023, Volume and Issue: 9(1), P. 1465 - 1480

Published: July 14, 2023

State-of-the-art literature on constrained multiagent system operations can only deal with constant or at best time-varying constraint requirements. Such formulations cannot respond well to the dynamic environment and presence of external agents outside system. In this work, we consider a formation tracking problem for group unmanned aerial vehicles (UAVs) in physical attacker. The safety/performance functions are environment-aware nature, whose formulation depends certain path parameters dependence ensures adaptation operation environment. attacker swift adjustment based relative distances between agents. UAV desired paths speeds also be both path- attacker-dependent. Composite barrier have been proposed address Neural network is used approximate unknown velocity, where ideal weight matrix learned by adaptive laws. Besides, disturbances estimated architecture ensure errors converge exponentially small neighborhoods near equilibrium, all requirements met. At end simulation study further illustrates scheme demonstrates its efficacy.

Language: Английский

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A Novel Adaptive Fuzzy Control Scheme for a Class of Nonlinear Planar Systems Under State Constraints

IEEE Transactions on Circuits & Systems II Express Briefs, Journal Year: 2023, Volume and Issue: 71(2), P. 827 - 831

Published: Sept. 13, 2023

The adaptive fuzzy control method has been widely used in the of nonlinear systems. system state is required to stay a compact set for effectiveness logic approximation. Therefore, many schemes integrating and full-state constraint techniques have proposed In this brief, novel controller developed class planar satisfy specific constraints which are first brief. It strictly proved that scheme can make asymptotically converge origin (not merely neighborhood origin) guarantee specified not violated. addition, restriction on rated boundaries different components explicitly given, guarantees feasibility condition naturally satisfied. Finally, applied PMSM show its effectiveness.

Language: Английский

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Disturbance-Observer-Based Barrier Function Adaptive Sliding Mode Control for Path Tracking of Autonomous Agricultural Vehicles With Matched-Mismatched Disturbances

IEEE Transactions on Transportation Electrification, Journal Year: 2023, Volume and Issue: 10(3), P. 6748 - 6760

Published: Nov. 15, 2023

In this paper, the path-tracking control strategies are proposed for autonomous agricultural vehicles with unknown matched-mismatched disturbances. First of all, a second-order disturbance observer (DOB) is designed to estimate matched and mismatched disturbances mitigate their negative effects. Secondly, by introducing modified sliding mode surface, DOB-based first-order (FOSM) scheme effectively deal system lumped disturbance. To completely eliminate chattering problem existing in FOSM controller, barrier function adaptive (BFASM) strategy further proposed. The distinguishing feature developed BFASM that variable can be finite-time stabilized predefined neighborhood around origin, upper bound does not require known advance. practical stability overall demonstrated using rigorous Lyapunov theory analysis. Finally, some comparative simulations experiments conducted highlight strong robustness, adaptability, excellent tracking performance function-based strategy.

Language: Английский

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