Adaptive fault tolerant tracking control of heterogeneous multi-agent systems with non-cooperative target

In this paper, the problem of tracking a non-cooperative target by heterogeneous multi -agent systems(MASs) with actuator faults is studied. Since the target is non-cooperative, the system matrix of the target is unavailable. Hence, the existing results dealing with con-sensus problem of heterogeneous multi-agent based on known exosystem matrix are inap-plicable. A neural-network-based adaptive observer is designed for estimating the output of the non-cooperative target. Then, a finite-time adaptive fault tolerant controller is devel-oped to resolve the heterogeneous target tracking problem in the presence of actuator faults. The tracking errors can converge within finite time. The proposed controller is fully distributed, thereby no longer requiring the system matrix of the target and actuator fault rates of the tracking agents. Finally, the effectiveness of the developed strategies and the correctness of achieved stability conditions are verified by some numerical examples. (c) 2022 Elsevier Inc. All rights reserved.

Automated summary

This paper studies the problem of tracking a non-cooperative target by heterogeneous multi-agent systems (MASs) with actuator faults. Due to the non-cooperative nature of the target, the system matrix of the target is unavailable. Therefore, the existing results for consensus problem of heterogeneous multi-agent based on known exosystem matrix are not applicable. A neural-network-based adaptive observer is designed to estimate the output of the non-cooperative target. Then, a finite-time adaptive fault tolerant controller is developed to address the heterogeneous target tracking problem in the presence of actuator faults. The proposed controller achieves finite-time convergence of tracking errors and is fully distributed, eliminating the need for the system matrix of the target and actuator fault rates of the tracking agents. The effectiveness of the developed strategies and the correctness of achieved stability conditions are verified through numerical examples.