Robust Fault-Tolerant Formation Maneuver Control for Multiagent Systems With Mismatched Disturbances
针对存在执行器故障和非匹配扰动的多智能体系统，提出一种基于领航-跟随的鲁棒容错编队机动控制方案，通过规划安全轨迹和设计自适应容错算法实现无碰撞编队机动。
It is a very challenging problem that how to drive a group of agents with actuator faults and matched/mismatched disturbances to achieve collision-free formation maneuvers. Thus, a collision-free robust fault-tolerant formation maneuver control scheme based on leader–follower is studied. First, we plan safe formation trajectories by designing formation maneuver parameters. The continuous trajectories are generated by using polynomial interpolation technique and sent to leaders. Second, we design a robust fault-tolerant affine formation control algorithm for followers with faults and mismatched disturbances. Specifically, the backstepping approach based on “dynamic surface” is employed to tackle mismatched disturbances avoiding the derivatives of virtual control signals. Moreover, the adaptive fault-tolerant mechanism based on “projection operator” is adopted to cope with partial loss-of-effectiveness and bias actuator faults, and the potential singularity of controller gain is effectively avoided. Finally, the corresponding simulations are carried out to validate the effectiveness of the proposed algorithms.