2 research outputs found
A Directed Spanning Tree Adaptive Control Framework for Time-Varying Formations
In this paper, the time-varying formation and time-varying formation tracking
problems are solved for linear multi-agent systems over digraphs without the
knowledge of the eigenvalues of the Laplacian matrix associated to the digraph.
The solution to these problems relies on a framework that generalizes the
directed spanning tree adaptive method, which was originally limited to
consensus problems. Necessary and sufficient conditions for the existence of
solutions to the formation problems are derived. Asymptotic convergence of the
formation errors is proved via graph theory and Lyapunov analysis
Fault-Tolerant Formation Tracking of Heterogeneous Multi-Agent Systems with Time-Varying Actuator Faults and Its Application to Task-Space Cooperative Tracking of Manipulators
This paper addresses a formation tracking problem for nonlinear multi-agent
systems with time-varying actuator faults, in which only a subset of agents has
access to the leader's information over the directed leader-follower network
with a spanning tree. Both the amplitudes and signs of control coefficients
induced by actuator faults are unknown and time-varying. The aforementioned
setting improves the practical relevance of the problem to be investigated, and
meanwhile, it poses technical challenges to distributed controller design and
asymptotic stability analysis. By introducing a distributed estimation and
control framework, a novel distributed control law based on a Nussbaum gain
technique is developed to achieve robust fault-tolerant formation tracking for
heterogeneous nonlinear multi-agent systems with time-varying actuator faults.
It can be proved that the asymptotic convergence is guaranteed. In addition,
the proposed approach is applied to task-space cooperative tracking of
networked manipulators irrespective of the uncertain kinematics, dynamics, and
actuator faults. Numerical simulation results are presented to verify the
effectiveness of the proposed designs