Distributed Resilient Tracking of Multiagent Systems Under Actuator and Sensor Faults

The distributed resilient tracking problem for multiagent systems (MASs) is investigated in the presence of actuator/sensor faults over directed topology. Both actuator fault and sensor fault are taken into account. Meanwhile, using the local information, the fault compensators are introduced. Then,...

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Bibliographic Details
Published in:IEEE transactions on cybernetics 2023-07, Vol.53 (7), p.4653-4664
Main Authors: Wu, Yanming, Liu, Jinguo, Wang, Zhanshan, Ju, Zhaojie
Format: Article
Language:English
Subjects:
Actuator faults
Actuators
Adaptive control
Automation
Compensators
Faults
Fuzzy logic
Fuzzy systems
Manufacturing
Multiagent systems
multiagent systems (MASs)
Observers
Protocols
resilient control
Robot sensing systems
sensor faults
Topology
Tracking errors
Tracking problem
Vehicle dynamics
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Summary:The distributed resilient tracking problem for multiagent systems (MASs) is investigated in the presence of actuator/sensor faults over directed topology. Both actuator fault and sensor fault are taken into account. Meanwhile, using the local information, the fault compensators are introduced. Then, based on the fuzzy-logic systems (FLSs) and modification technique of adaptive law, a novel distributed adaptive resilient control protocol is developed, which can compensate the effect of faults on the actuator and sensor. It turns out that all signals of MASs are bounded, while the tracking errors enter an adjustable bounded region around the origin. Toward the end, two simulations are provided to validate the effectiveness of the theoretical results.
ISSN:2168-2267
2168-2275
DOI:10.1109/TCYB.2021.3132380