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distributed adaptive Fault-Tolerant control for Heterogeneous Multiagent Systems With Time-Varying Communication Delays

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2022年第7期52卷 4362-4372页

作者： Fan, Quan-Yong Deng, Chao Ge, Xiaohua Wang, Cai-Cheng Northwestern Polytech Univ Sch Automat Xian 710129 Peoples R China Nanjing Univ Posts & Telecommun Inst Adv Technol Nanjing 210023 Peoples R China Swinburne Univ Technol Sch Sci Comp & Engn Technol Melbourne Vic 3122 Australia North Automat Control Technol Inst Taiyuan 030006 Peoples R China

This article considers the distributed adaptive fault-tolerant control problem for heterogeneous linear multiagent systems with actuator faults and nonuniform time-varying communication delays. First, novel distributed switching observers are proposed to estimate the system matrix and the state of the exosystem. The observers allow each agent to share its information with its underlying neighbors only at sampled instants of time, thus making a distinct difference from the existing results that require the exosystem matrix to be accessible to all agents at every continuous instant of time. Second, a sufficient condition is derived such that the observer error systems are exponentially stable under the influence of communication delays among interacting agents. Third, new distributed adaptive fault-tolerant controllers, which promise fewer adaptive parameters, are presented to compensate for the actuator faults. It is shown that the developed controllers are capable to effectively and efficiently solve the cooperative fault-tolerant output regulation problem with reduced computational complexity. Finally, three illustrative examples, including an inverted pendulum system, an electronic double-integrator circuit system, and an AC microgrid system, are presented to show the validity and efficiency of the developed method.

关键词： Actuators Fault tolerant systems Fault tolerance Delays Observers Regulation Manganese Actuator faults distributed adaptive control fault-tolerant control (FTC) multiagent systems (MASs)

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distributed adaptive neural networks leader-following formation control for quadrotors with directed switching topologies

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ISA TRANSACTIONS 2019年 93卷 93-107页

作者： Jia, Zhenyue Wang, Linlin Yu, Jianqiao Ai, Xiaolin Beijing Inst Technol Sch Aerosp Engn Beijing Peoples R China China Acad Launch Vehicle Technol Beijing Peoples R China

The leader-following formation problem is discussed for a team of quadrotors under directed switching topologies. To obtain a more general dynamic model, we describe the quadrotor system in a non-affine pure-feedback form with mismatched unknown nonlinearities. By employing an adaptive neural networks state observer to approximate the unknown nonlinear functions and to reconstruct the immeasurable inner states, we propose a novel distributed output feedback formation control protocol with the backstepping method combining with the dynamic surface control technique. From the Lyapunov stability theorem, all signals in the closed-loop formation system are proven to be cooperatively semiglobally uniformly ultimately bounded for any given bounded initial conditions. Finally, we proved that we verify the performance of the proposed formation control approach by a simulation study. (C) 2019 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Neural networks distributed adaptive control Leader-following formation Directed switching topologies

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Hierarchical Decomposition Based Consensus Tracking for Uncertain Interconnected Systems via distributed adaptive Output Feedback control

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IEEE TRANSACTIONS ON AUTOMATIC control 2016年第7期61卷 1938-1945页

作者： Wang, Wei Wen, Changyun Huang, Jiangshuai Li, Zhengguo Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore Natl Univ Singapore Dept Elect & Comp Engn Singapore 117576 Singapore Inst Infocomm Res Signal Proc Dept Singapore 138632 Singapore

In this note, distributed adaptive controllers are developed for output consensus tracking of multiple linear systems with unknown parameters, uncertain subsystem interconnections and external disturbances. The subsystems are allowed to have non-identical dynamics and the same yet arbitrary order. It is assumed that only part of subsystems can have direct access to the time-varying trajectory information and the subsystem states are unmeasurable for local feedback control. In our design, the directed graph representing the information transmission status among subsystems is preprocessed by splitting it into a hierarchical structure. Then local adaptive controllers of subsystems in different layers can be computed in a sequential order and the difficulty on deriving mutually dependent local controls in previous consensus works are successfully overcome. In each subsystem, additional estimates are introduced to account for the unknown parameters and states in its neighbors' dynamics. Besides, only the information of local outputs and inputs need be collected from the neighboring subsystems. Certain robust terms are added in distributed adaptive laws to mitigate the effects of uncertain subsystem interactions and disturbances. It is proved that with our scheme, all closed-loop signals can be ensured bounded when the strengths of uncertain subsystem interconnections are sufficiently weak. The tracking errors for the entire group of subsystems will converge to a compact set and the transient tracking error performance can be adjusted by appropriately choosing design parameters.

关键词： Consensus tracking distributed adaptive control output feedback uncertain subsystem interconnections unknown parameters

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Observer-Based Dynamic Event-Triggered adaptive control of distributed Networked Systems With Application to Ground Vehicles

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2023年第4期70卷 4148-4157页

作者： Xu, Yong Wu, Zheng-Guang Pan, Ya-Jun Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China Zhejiang Univ Inst Cyber Syst & Control Hangzhou 310027 Peoples R China Dalhousie Univ Dept Mech Engn Halifax NS B3H 4R2 Canada

In this article, a distributed observer- and event-based practical consensus control for networked systems subject to adaptive nonlinear couplings is investigated. Considering that the node's state is not always measurable and the finite communication bandwidth exists in engineering systems, two distributed adaptive event-triggered control protocols subject to nonlinear couplings are proposed under observer-based dynamic output feedback. Then, distributed dynamic event-triggered control policies corresponding to two abovementioned adaptive controllers are proposed, respectively. The proposed nonlinear coupled event-triggered control schemes not only overcome continuous communication among nodes, but also relax the requirement of relying on global information for achieving a distributed practical consensus. Finally, the theoretical analysis is verified through a team of practical networked ground vehicles implemented through MATLAB/Simulink and robot operating systems environment.

关键词： distributed adaptive control ground vehicles networked systems nonlinear couplings practical consensus

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distributed adaptive Output Feedback control of Uncertain Multi-Agent Systems with Actuator Faults and Communication Delays 28

Distributed Adaptive Output Feedback Control of Uncertain Mu...

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28th Chinese control and Decision Conference

作者： Wang, Wei Wen, Changyun Huang, Jiangshuai Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn Nanyang Ave Singapore 639798 Singapore Natl Univ Singapore Dept Elect & Comp Engn Singapore 117576 Singapore

ISBN: (纸本)9781467397148

In this paper, a distributed adaptive output feedback control scheme is proposed to solve output consensus regulation problem of multi-agent systems with parameter uncertainties and loss of effectiveness type of actuator faults. We suppose that i) only a subset of the subsystems can access the desired set value directly, ii) the communication conditions among all the subsystems are represented by a directed graph, where a constant unknown delay exists between every two connected subsystems. Based on only output and input information collected from its neighbors, external estimators can be designed in each subsystem to effectively account for the unmeasurable states and unknown parameters involved in its neighboring subsystems' models. By choosing appropriate Lyapunov-Krasovskii function, the effects due to unknown constant communication delays can be compensated. It is shown that all the closed-loop signals are globally uniformly bounded and all the subsystem outputs will be regulated to the set-point asymptotically.

关键词： distributed adaptive control Output feedback Consensus Actuator faults Communication delays

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distributed adaptive output consensus control of nonlinear strict-feedback systems using neural networks 28

Distributed adaptive output consensus control of nonlinear s...

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28th Chinese control and Decision Conference

作者： Wang, Gang Wang, Chaoli Xu, Weidong Univ Shanghai Sci & Technol Sch Business Shanghai 200093 Peoples R China Univ Shanghai Sci & Technol Dept Control Sci & Engn Shanghai 200093 Peoples R China

ISBN: (纸本)9781467397148

In this paper, we address the output consensus problem of tracking a desired trajectory for a group of nonlinear strict-feedback subsystems over a directed graph with a fixed topology. Each subsystem is modeled by a higher-order nonlinear system with unknown nonlinear dynamics. Only a subset of the subsystems is given direct access to the desired trajectory information. A distributed adaptive consensus protocol driving each subsystem to track the desired trajectory is presented using the backstepping technique and neural networks (NN). The Lyapunov theory is applied to guarantee that all signals in the closed loop system are uniformly ultimately bounded and that all subsystems' outputs synchronize to the desired trajectory with bounded residual errors. It is also demonstrated that arbitrary small tracking errors can be achieved by appropriately choosing design parameters. Simulation results validate the effectiveness of the proposed methods.

关键词： Output consensus distributed adaptive control Backstepping control Neural networks

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distributed adaptive Average-Consensus control for a Class of Second-Order Nonlinear Multi-agent System Using Neural Network 6

Distributed Adaptive Average-Consensus Control for a Class o...

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IEEE Proceedings Sixth Int Conference Intelligent control Inform Processing

作者： Yang, Xiaohui Li, Tieshan Qiao, Wenming Dalian Maritime Univ Informat Sci & Technol Coll Dalian Peoples R China Dalian Maritime Univ Nav Coll Dalian Peoples R China Shandong Jiaotong Univ Marine Coll Jinan Peoples R China

ISBN: (纸本)9781479917174

In this paper, an effective distributed adaptive control method is proposed to solve the second-order average-consensus problem for multi-agent system with nonlinear dynamics. First of all, the distributed adaptive law is put forward in order to solve the problem that each agent can only use its neighboring agents information. Then, the basic idea of backstepping is used to solve the second-order dynamics. Since the neural network has the favorable approximation capability, the uncertain nonlinear dynamics in this paper is solved by it. By combining the aforementioned several methods, the designed controller for each agent can guarantee the average-consensus behavior could be obtained and all the signals here are bounded. Finally, the effectiveness and feasibility of the proposed approach is illustrated by the simulation examples.

关键词： multi-agent system second-order average-consensus distributed adaptive control nonlinear uncertainty neural networks

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distributed adaptive finite-time formation control of multiple UAV helicopter system 37

Distributed adaptive finite-time formation control of multip...

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37th Chinese control Conference (CCC)

作者： Wang, Dandan Zong, Qun Zhang, Boyuan Tianjin Univ Sch Elect Engn & Automat Tianjin 300072 Peoples R China

ISBN: (纸本)9789881563958

This paper investigates distributed finite-time formation control (FFDFC) with local information change for multiple unmanned aerial vehicle (UAV) helicopter system with disturbances. The UAV helicopter system is composed by position outer-loop and attitude inner-loop. We introduce an adaptive finite-time formation controller that takes into account motions of the information states. Unlike the existing distributed protocols, we show that the finite-time convergence properties is proved by Lyapunov theory. Moreover, the control algorithm removes the global information that needs to be known by each follower in advance in many references. Simulation results are presented to demonstrate the efficiency of the designed strategy.

关键词： Formation control Finite-time control distributed adaptive control UAV helicopters

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distributed adaptive Fault-tolerant Formation control of Uncertain Nonholonomic Mobile Robots 33

Distributed Adaptive Fault-tolerant Formation Control of Unc...

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33rd Chinese control and Decision Conference (CCDC)

作者： Han, Zhen Wang, Wei Fan, Huijin Beihang Univ Sch Automat Sci & Elect Engn Beijing 100083 Peoples R China Huazhong Univ Sci & Technol Dept Control Sci & Engn Wuhan 430074 Peoples R China

ISBN: (纸本)9781665440899

In this paper, the distributed adaptive fault-tolerant formation control problem is investigated for a group of nonholonomic mobile robots(NMRs). The communication flow is described by a digraph and it is supposed that only a subset of the NMRs has direct access to the common desired trajectory. Besides, the actuators of each NMR may suffer from intermittent type of actuator faults. To estimate the unknown trajectory information and topology parameters, distributed estimators are proposed based on the neighboring available information. In addition, estimators are also introduced to estimate the lower bounds of the actuator fault coefficients. Based on the estimation values and Young's inequality, nonlinear damping terms are designed. Then, a novel fault-tolerant control scheme is proposed by applying the adaptive backstepping technique. It is guaranteed that the formation errors will converge to an adjustable compact set and the control inputs are globally uniformly bounded. Simulation results validate the effectiveness of the proposed control scheme.

关键词： Fault-tolerant distributed adaptive control Formation Nonholonomic mobile robots

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distributed adaptive sliding mode control for nonlinear heterogeneous multi-agent systems with unknown disturbances 36

Distributed adaptive sliding mode control for nonlinear hete...

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第36届中国控制会议

作者： ZHANG Xiang WANG Jinhuan WANG Jie YANG Dedong School of Sciences Hebei province key laboratory of big data calculationHebei University of Technology School of Control Science and Engineering Hebei University of Technology

ISBN: (纸本)9781538629185

In this paper,the consensus for a class of nonlinear heterogeneous multi-agent systems（MAS） subject to unknown external disturbances is ***,the neighbor-based distributed finite-time observers are proposed for the followers to estimate the position and velocity of the ***,a novel distributed adaptive control laws is designed by means of linear sliding mode（LSM）.One can prove that the tracking consensus can be realized asymptotically under LSM in spite of uncertainties and ***,a numerical example demonstrates the performance and feasibility of the given protocols.

关键词： multi-agent systems tracking consensus distributed adaptive control sliding mode

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