Prescribed-Time FTC for Systems with Directed Graphs
摘要
This chapter discusses formation control of heterogeneous MASs with actuator faults. The design is hierarchical in order to stop the propagation of defects among agents. The leader’s state trajectory is estimated by each follower agent through a distributed prescribed-time observer, operating over directed communication graphs. Then, using the FAS paradigm, adaptive fault-tolerant tracking controllers are designed for followers exposed to partial effectiveness loss faults. In contrast to the existing FTC results, the suggested approach allows formation errors to be zero within a freely adjustable time period.