Fixed-Time Fault-Tolerant Formation Control for a Cooperative Heterogeneous Multiagent System With Prescribed Performance
研究了领导者-跟随者异构多智能体系统（含无人机和无人车）在执行器故障和扰动下的固定时间容错编队控制问题，提出了分布式和分散式控制算法，使编队误差在已知时间内收敛到预设小区域。
This article investigates the fixed-time fault-tolerant formation control problem of a leader–follower heterogeneous multiagent system (HMAS), including multiple unmanned aerial vehicles (UAVs) and multiple unmanned ground vehicles (UGVs) under loss of effectiveness actuator faults and disturbances. Different from the existing fixed-time formation results, to realize the special application, a finite-time performance function (FTPF) is considered, which can guarantee that formation error converges to a prescribed arbitrarily small region within a known time. Then, based on sliding mode control and bi-limit homogeneity, distributed and decentralized fixed-time formation control algorithms are constructed for the HMAS in the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$x$ </tex-math></inline-formula> – <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$y$ </tex-math></inline-formula> axis and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$z$ </tex-math></inline-formula> axis, respectively, which can steer the whole system achieving target formation configuration within a scheduled time. In addition, based on local state information, adaptive online updating strategies for unknown actuator efficiency factors and lumped uncertainties are proposed. Then, under the online updating parameters, two novel distributed and decentralized adaptive fault-tolerant formation control laws are presented using practical fixed-time stability theory, which not only achieves stable formation tracking with finite-time prescribed behavioral metrics but also ensures that the formation errors are uniformly bounded within a settling time. Finally, the effectiveness of the developed control schemes is verified by simulation examples.