Abstract
This paper investigates the cooperative tracking control problem for networked uncertain Lagrange systems with a leader-follower structure on digraphs. Since the leader’s information is only available to a portion of the followers, finite-time observers are designed to estimate the leader’s velocity. Based on the estimated velocity information and the universal approximation ability of fuzzy logic systems, a distributed adaptive fuzzy tracking control protocol is first proposed for the fault-free Lagrange systems. Then, the actuator faults are considered and a distributed fault-tolerant controller is presented. Based on graph theory and Lyapunov theory, the convergence analyses for the proposed algorithms are provided. The development in this paper is suitable for the general directed communication topology. Numerical simulation results are presented to show the closed-loop performance of the proposed control law and illustrate its robustness to actuator faults and external disturbances.
Highlights
Consensus problem for multiagent systems has attracted a great deal of attention in many fields such as biology, physics, robotics, and control engineering due to its broad applications in many areas such as mobile robots, unmanned air vehicles, autonomous underwater vehicles, satellites, aircrafts, automated highway systems, and air traffic control
The analysis shows that if the designed nominal controller can ensure the stability of the fault-free distributed system, the proposed faulttolerant controller guarantees the stability of the distributed system in the presence of faults
We present the simulation results to examine the performance of the proposed control scheme
Summary
Consensus problem for multiagent systems has attracted a great deal of attention in many fields such as biology, physics, robotics, and control engineering due to its broad applications in many areas such as mobile robots, unmanned air vehicles, autonomous underwater vehicles, satellites, aircrafts, automated highway systems, and air traffic control. The work in [11] investigated the finite-time cooperative tracking problem for a class of networked Euler-Lagrange systems with a leader-follower structure, where the communication topologies among the followers are undirected. The work in [12] studied the cooperative tracking control problem for a group of Lagrange vehicle systems with directed communication topology. Compared with the aforementioned works [2,3,4,5,6,7,8,9,10,11,12], this paper addresses the distributed fault-tolerant tracking problem for networked unknown Lagrange systems on digraphs. (2) A robust fault-tolerant cooperative control scheme is presented to achieve distributed tracking control even if the actuator bias fault and the loss of actuator effectiveness coexist.
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