Abstract
In this paper, a distributed adaptive consensus law with fault compensation for a heterogeneous multi-robot system (MRS) is proposed. The design paradigm adopted in this work involves a leader-following cooperative algorithm featuring two distinct adaptive coupling gains to compensate for multiple additive time-varying faults. Exacerbating the situation, the follower robots commissioned in the leader-following mission are non-identical due to their dynamic characteristic as normally exist in a physical setup. The capability of the proposed scheme is investigated and compared with the other two recent works in two facets; one is to gauge how the algorithm is able to mitigate faults of varying nature in the presence of heterogeneous robot(s) while maintaining the platoon formation during the leader-following task; two is the ability to cope with subsequent topology reconfiguration. The stability and the robustness of the proposed scheme against bounded time-varying faults are proven using rigorous Lyapunov analysis. The proposed control strategy exempts the use of an observer or estimator, thereby simplifies the synthesis and implementation on mobile robots. The simulation results of the proposed adaptive consensus law demonstrate the best performance as compared to the other two recent works in the presence of multiple faulty robots.
Highlights
In recent decades, there have been a plethora of research studies on the cooperative control of multi-agent systems (MASs) [1]–[4]
Compared to the existing works in fault-tolerant control methods (FTCs) methods, the proposed control method has several key contributions: (1) a new adaptive consensus control is designed for a cooperative heterogeneous multi-robot system (MRS) under the presence of multiple additive time-varying faults; (2) An adaptive consensus law is designed based on two distinct adaptive coupling gains, that rely only on the relative state information and the agent’s own dynamics, both of which are practically accessible; (3) the novel adaptive consensus law is designed using a Lyapunov analysis to compensate for the effects of the fault
Even though the considered MRS system is specific, the main concept of this paper is applicable to other types of MAS systems or other cooperative control problems since the proposed adaptive law is only dependent on neighbors
Summary
There have been a plethora of research studies on the cooperative control of multi-agent systems (MASs) [1]–[4]. Two distinctive adaptive coupling gains approach is used to compensate for the fault existence without requiring any extra a priori information about faults This method exemplifies a robust approach that is pragmatic since observer or estimator design is not needed. Compared to the existing works in FTC methods, the proposed control method has several key contributions: (1) a new adaptive consensus control is designed for a cooperative heterogeneous MRS under the presence of multiple additive time-varying faults; (2) An adaptive consensus law is designed based on two distinct adaptive coupling gains, that rely only on the relative state information and the agent’s own dynamics, both of which are practically accessible; (3) the novel adaptive consensus law is designed using a Lyapunov analysis to compensate for the effects of the fault.
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