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Event-triggered adaptive tracking for constrained multi-agent systems with saturated inputs and actuator faults

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  • Tan, Yunshun
  • Yu, Hui

Abstract

An fault-tolerant tracking control of uncertain nonlinear multi-agent systems with state constraints and input saturation is investigated. A saturated controller is processed by converting the saturation function into a linear form of the control input. The uncertain nonlinear dynamics are approximated by fuzzy logic systems and the unknown parameters are estimated by adaptive laws. By utilizing the nonlinear state-dependent function, the constrained system is converted into the unconstrained one. An adaptive distributed event-triggered control mechanism for consensus tracking is developed utilizing the backstepping approach. By stability analysis, it is ensured that all system signals are bounded, consensus tracking can be achieved with bounded errors, and no Zeno behavior happens. Finally, simulation is done to validate the theoretical results.

Suggested Citation

  • Tan, Yunshun & Yu, Hui, 2024. "Event-triggered adaptive tracking for constrained multi-agent systems with saturated inputs and actuator faults," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 225(C), pages 195-215.
    • Handle: RePEc:eee:matcom:v:225:y:2024:i:c:p:195-215
    DOI: 10.1016/j.matcom.2024.05.015
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    References listed on IDEAS

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    1. Guo, Wanli & He, Wennuo & Shi, Lili & Sun, Wen & Lu, Xiaoqing, 2021. "Fixed-time consensus tracking for nonlinear stochastically disturbed multi-agent systems via discontinuous protocols," Applied Mathematics and Computation, Elsevier, vol. 400(C).
    2. Zhang, Yanhui & Liang, Hongjing & Ma, Hui & Zhou, Qi & Yu, Zhandong, 2018. "Distributed adaptive consensus tracking control for nonlinear multi-agent systems with state constraints," Applied Mathematics and Computation, Elsevier, vol. 326(C), pages 16-32.
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