Adaptive Fault-Tolerant Formation Control of Heterogeneous Multi-Agent Systems under Directed Communication Topology
Open accessAbstract
This paper investigates the adaptive fault-tolerant formation control scheme for heterogeneous multi-agent systems consisting of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) with actuator faults, parameter uncertainties and external disturbances under directed communication topology. Firstly, the dynamic models of UAVs and USVs are introduced, and a unified heterogeneous multi-agent system model with actuator faults is established. Then, a distributed fault-tolerant formation controller is proposed for the unified model of UAVs and USVs in the XY plane by using adaptive updating laws and radial basis function neural network. After that, a decentralized formation-tracking controller is designed for the altitude control system of UAVs. Based on the Lyapunov stability theory, it can be proved that the formation errors and tracking errors are uniformly ultimately bounded which means that the expected time-varying formation is achieved. Finally, a simulation study is given to demonstrate the effectiveness of the proposed scheme.
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“The DSC was first proposed by [29] to overcome this obstacle by giving the first-order filter to backstepping design.”
Method
- Authors
- Liu, S., Jiang, B., Mao, Z., & Ma, Y.
- Affiliations
- Nanjing University of Aeronautics and Astronautics (CN)
- Corresponding author
- Jiang, Bin
- Venue
- Sensors
- Publisher
- MDPI AG
- Published
- 2022-08-18
- Volume
- 22
- Issue
- 16
- Pages
- 6212
- ISSN
- 1424-8220 (ISSN-L)
- PMC
- PMC9414499
- OpenAlex
- W4292961963
- Cited by
- 16
- References
- 44
- Citations by year
- 2026: 3 · 2025: 6 · 2024: 4 · 2023: 3
- FWCI
- 1.44
- Type
- journal article
- Language
- en
- Open access
- gold
- dx.doi.org
- Licence
- Locations
- Sensors (publishedVersion, cc-by)
- PubMed Central (publishedVersion, cc-by)
- PubMed (publishedVersion)
- DOAJ (DOAJ: Directory of Open Access Journals) (submittedVersion, cc-by-sa)
- Funders
- National Natural Science Foundation of China (62020106003, 61922042, B20007, FRF-BD-20-10A, CMS-I-0521G05, KYCX20_0206, 202006830062)
- 111 Project (62020106003, 61922042, B20007, FRF-BD-20-10A, CMS-I-0521G05, KYCX20_0206, 202006830062)
- Qing Lan Project, Fundamental Research Funds for Central Universities (62020106003, 61922042, B20007, FRF-BD-20-10A, CMS-I-0521G05, KYCX20_0206, 202006830062)
- Research Fund of State Key Laboratory of Mechanics and Control of Mechanical Structures (Nanjing University of Aeronautics and Astronautics) (62020106003, 61922042, B20007, FRF-BD-20-10A, CMS-I-0521G05, KYCX20_0206, 202006830062)
- Postgraduate Research and Practice Innovation Program of Jiangsu Province (62020106003, 61922042, B20007, FRF-BD-20-10A, CMS-I-0521G05, KYCX20_0206, 202006830062)
- China Scholarship Council (62020106003, 61922042, B20007, FRF-BD-20-10A, CMS-I-0521G05, KYCX20_0206, 202006830062)
- Topics
- Physical Sciences › Computer Science › Computer Networks and Communications › Distributed Control Multi-Agent Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Control and Dynamics of Mobile Robots
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Keywords
- heterogeneous multi-agent systems, directed communication topology, actuator faults, unmanned aerial vehicles, unmanned surface vehicles, radial basis function neural network, altitude control, parameter uncertainty, external disturbances, uniform ultimate boundedness
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