Journal
ISA TRANSACTIONS
Volume 71, Issue -, Pages 227-234Publisher
ELSEVIER SCIENCE INC
DOI: 10.1016/j.isatra.2017.08.003
Keywords
Flocking; Robust adaptive fault-tolerant control; Multi-agent system; Uncertainty; Actuator failure
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In this work, we study the flocking problem of multi-agent systems with uncertain dynamics subject to actuator failure and external disturbances. By considering some standard assumptions, we propose a robust adaptive fault tolerant protocol for compensating of the actuator bias fault, the partial loss of actuator effectiveness fault, the model uncertainties, and external disturbances. Under the designed protocol, velocity convergence of agents to that of virtual leader is guaranteed while the connectivity preservation of network and collision avoidance among agents are ensured as well. (C) 2017 ISA. Published by Elsevier Ltd. All rights reserved.
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