Funnel-Based Predefined-Time Containment Control of Heterogeneous Multiagent Systems With Sensor and Actuator Faults
针对存在传感器和执行器故障的异构多智能体系统，提出一种自适应包含控制方法，确保跟随者收敛到领导者形成的凸包内，且误差保持在预定漏斗区域内，并在预定时间内实现收敛。
Adaptive containment control with funnel performance and practical predefined-time (PT) convergence is investigated for uncertain nonlinear heterogeneous multiagent systems (MASs) with multiple leaders. Unlike the existing funnel literatures, the considered system has unknown sensor and actuator failures simultaneously, and no assumptions are imposed on the system function. In particular, different adaptive laws are introduced to reduce the effects of sensor and actuator faults. An improved nonlinear filter is employed to avoid the “explosion of complexity” issue and realizes the convergence of filter errors within the PT. Additionally, the control singular issue is avoided by using L’Hospital’s rule. Subsequently, it is shown that the proposed controller can realize that all the signals are practical PT bounded, the followers converge to the convex formed by multiple leaders and the containment errors remain in the prescribed funnel region. Finally, simulation examples are performed to verify the effectiveness of the proposed algorithm.