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<p>This paper addresses the coordination tracking control problem for a class of second-order nonlinear heterogeneous multi-agent systems (MASs) subject to switching topologies and actuator failures. The unmodeled nonlinearities, and actuator bias faults are considered in each subsystem dynamics. By using the state information of neighborhood agent, a novel adaptive fault-tolerant coordination control alogrithm is designed for actuator failure compensations in individual subsystems. By applying topology-dependent Lyapunov function approach and graph algebra theory, the fault-tolerant tracking controller is designed to guarantee that the coordination tracking problem is solvable in the presence actuator faults and switching communication networks. The effectiveness of the proposed control algorithm is demonstrated by numerical examples.</p>

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Fault-tolerant Coordination Tracking Control of Heterogeneous Multiagent Systems Under Switching Directed Communication Networks

  • 期刊论文

  • 发表日期：

    2025年7月14日

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  • Xiaona Yang,
  • Lin He,
  • Jianting Lyu,
  • Sufei Wang,
  • Xin Wang

摘要

This paper addresses the coordination tracking control problem for a class of second-order nonlinear heterogeneous multi-agent systems (MASs) subject to switching topologies and actuator failures. The unmodeled nonlinearities, and actuator bias faults are considered in each subsystem dynamics. By using the state information of neighborhood agent, a novel adaptive fault-tolerant coordination control alogrithm is designed for actuator failure compensations in individual subsystems. By applying topology-dependent Lyapunov function approach and graph algebra theory, the fault-tolerant tracking controller is designed to guarantee that the coordination tracking problem is solvable in the presence actuator faults and switching communication networks. The effectiveness of the proposed control algorithm is demonstrated by numerical examples.