کنفرانس مهندسی برق ایران

صفحه اصلی / سی و دومین کنفرانس بین المللی مهندسی برق

Adaptive Fault Tolerant Control in Time-Varying Formation of Multi-Agent Systems

نویسندگان :

Elham Bahrampour¹ Mohammad Tavazoei²

1- دانشگاه شیراز 2- دانشگاه تحصیلات تکمیلی صنعتی و فناوری پیشرفته

کلمات کلیدی :

multi-agent systems،adaptive fault tolerant controller،time-varying formation control،distributed control

چکیده :

This paper proposes an adaptive fault tolerant controller for time-varying formation control of high-order multi-agent systems in the presence of time-varying actuator bias faults. The upper bound and the time of the occurrence of the considered fault are completely unknown. So, in nominal system, a distributed adaptive protocol is designed based on the local information of the neighbors. For this purpose, after employing a condition to determine the feasible time-varying formations, an adaptive law is proposed to update time-varying control parameter. It’s proved that if the desired formation is feasible all the agents move to their desired absolute position and the demanded formation is achieved. After that, with considering the actuator bias fault, an adaptive fault tolerant control is proposed to compensate control demand. The unknown time-varying parameters of the proposed controller are estimated on-line by adaptive laws to eliminate the fault effect. Then using a suitable semi-Lyapunov function, it’s proved that all the signals in the closed loop system are bounded and the absolute and relative position errors converge to zero. Finally, a numerical example is given to show the effectiveness of the theoretical results.