Fault-Tolerant Optimal Consensus Control for Heterogeneous Multi-Agent Systems

被引：0
|
作者：
Li, Yandong [1 ,2 ]
Liu, Yongan [1 ,2 ]
Zhu, Ling [3 ]
Zhang, Zehua [1 ,2 ]
机构：
[1] Qiqihar Univ, Coll Comp & Control Engn, Qiqihar 161000, Peoples R China
[2] Qiqihar Univ, Heilongjiang Key Lab Big Data Network Secur Detect, Qiqihar 161000, Peoples R China
[3] Qiqihar Univ, Sch Mech & Elect Engn, Qiqihar 161000, Peoples R China
来源：
APPLIED SCIENCES-BASEL | 2024年 / 14卷 / 16期
基金：
中国国家自然科学基金;
关键词：
uncrewed aerial vehicle; uncrewed ground vehicle; heterogeneous multi-agent system; actuator failures; consensus; Lyapunov stability theory; optimal method;
D O I：
10.3390/app14166904
中图分类号：
O6 [化学];
学科分类号：
0703 ;
摘要：
This study explores fault-tolerant consensus in leader-following heterogeneous multi-agent systems, focusing on actuator failures in uncrewed aerial vehicles (UAVs) and uncrewed ground vehicles (UGVs). An optimization-based fault-tolerant consensus algorithm is proposed. The algorithm utilizes the Euler-Lagrange formula to ensure system consistency under actuator failures, with the Lyapunov stability theory proving the asymptotic stability of the consistency error. The algorithm is applied to heterogeneous multi-agent systems of UAVs and UGVs to derive optimal fault-tolerant consensus control laws for each vehicle type. Simulation experiments give evidence for the feasibility of the proposed control strategy.
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页数：18
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