Robust adaptive fault-tolerant control for leader-follower flocking of uncertain multi-agent systems with actuator failure |
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Affiliation: | 1. Department of Electrical Engineering, Zanjan Branch, Islamic Azad University, Zanjan, Iran;2. Advanced Control Systems Lab, Electrical Engineering Department, Sharif University of Technology, Tehran 11155-4363, Iran |
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Abstract: | In this work, we study the flocking problem of multi-agent systems with uncertain dynamics subject to actuator failure and external disturbances. By considering some standard assumptions, we propose a robust adaptive fault tolerant protocol for compensating of the actuator bias fault, the partial loss of actuator effectiveness fault, the model uncertainties, and external disturbances. Under the designed protocol, velocity convergence of agents to that of virtual leader is guaranteed while the connectivity preservation of network and collision avoidance among agents are ensured as well. |
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Keywords: | Flocking Robust adaptive fault-tolerant control Multi-agent system Uncertainty Actuator failure |
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