Research On Coordinated Fault-tolerant Control Of Second-order Nonlinear Multi-agent Systems

The research on coordinated tracking and control of multi-agent systems has received in-depth attention from scholars in physics,control,computers and other fields.This article takes second-order nonlinear multi-agents as the research object,and focuses on the second-order nonlinear multi-agent systems under undirected topology.The agent system proposes a coordinated tracking control scheme.Further research on its leader-following consensus has been done,and the main research contents are as follows.First of all,this article gives the research status of the research field of secondorder nonlinear multi-agent system coordination and tracking.Introduced the knowledge of graph theory and the related theories of Lyapunov stability,which provides a theoretical basis for other chapters of the article.Secondly,under the undirected switching topology,based on graph theory and Lyapunov stability analysis method,an adaptive tracking control protocol is designed,and the feasibility of the second-order nonlinear multi-agent leader-following consensus problem is verified by simulation.Finally,the coordinated fault-tolerant tracking control of a second-order nonlinear multi-agent system with unmodeled dynamics under a denial of service(DoS)attack is studied.Assuming that there is an undirected switching topology between the agents,the actuator failure of the agent is considered.An adaptive coordination fault-tolerant tracking protocol is given to ensure that the subsystem completes the coordinated control goal when there is a DoS attack.The example of a multivehicle cooperative system is used to verify the feasibility of the proposed adaptive algorithm.