Model-Free Adaptive Fault-Tolerant Formation Control for Nonlinear MIMO Multiagent Systems Over Fading Channels
针对非线性连续时间MIMO多智能体系统中执行器故障和信道衰落问题，提出一种基于采样数据全格式动态线性化的无模型自适应容错编队控制方案，通过无人地面车辆仿真验证了有效性。
The actuator faults and channel fading are unavoidable in the nonlinear continuous-time MIMO multiagent systems (MASs), which significantly complicate the formation control problem. To tackle these challenges, a model-free adaptive fault-tolerant formation control (MFAFTFC) scheme based on the sampled-data full-form dynamic linearization (SD-FFDL) technology is proposed, which integrates the data-based formation control algorithm, the fuzzy neural network algorithm, and the projection algorithm. The stability analysis of MFAFTFC scheme is strictly provided. Simulation comparison results with unmanned ground vehicle demonstrate the effectiveness of the proposed MFAFTFC scheme, that is, the proposed MFAFTFC scheme can achieve the formation objective for the nonlinear continuous-time MIMO MASs subjected to actuator faults and fading channels.