Research On Fault-tolerant Control For Formation Tracking Of High-order Multi-agent Systems In Switching Topologies

In recent years,with the rapid development of communication technology and artificial intelligence,it is difficult to complete complex control tasks only relying on a single agent.To solve the above problems,multi-agent systems control came into being.Because multi-agent systems have strong scalability,strong robustness,high flexibility,and other advantages,it is widely used in practical engineering.However,with the expansion of the scale of the multi-agent systems and their long-term operation,the probability of actuator faults in the system will also increase.If the faults cannot be found and handled in time,the normal operation of the multi-agent systems will be affected,and even the task will fail.In addition,the information exchange between intelligent agents may be subject to external interference or communication interruption due to transmission distance limitations,resulting in new communication chains.Therefore,it is meaningful to study the fault-tolerant control of formation tracking for multi-agent systems under switching topologies.The main research content of this article is as follows:Firstly,the formation tracking control of higher-order linear multi-agent systems with switching topologies and actuator faults is studied.The studied multi-agent systems contain multiple leaders with unknown control inputs.Followers not only need to form the expected formation but also need to track the convex combination formed by multiple leaders.Based on the adjacent relative information of intelligent agents,the fault-tolerant time-varying formation control protocol is constructed to compensate for the effects of bias faults,effectiveness faults,and unknown control inputs of the leaders,and the feasibility conditions of the formation are provided.In addition,a new algorithm is proposed to determine the parameters of the designed control protocol.Finally,the stability is demonstrated using the Lyapunov theory.Finally,the problem of multi-formation fault-tolerant control for high-order nonlinear multi-agent systems with parameter uncertainties,unknown external disturbances,switching topologies,and non-cooperative objectives is studied.The fault-tolerant time-varying formation tracking control protocol is constructed based on the zero total interaction information between subgroups and the adjacent relative information of multi-agent in the subgroup,and an algorithm is further designed to determine the parameters contained in the designed control protocol.The designed control protocol is completely distributed and does not need to know the boundary of actuator faults,parameter uncertainties,unknown external disturbances,and leaders control inputs.Finally,the effectiveness of the designed control protocol is illustrated by three subgroups of simulation examples.