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Adaptive containment control for heterogeneous MASs with unknown leaders and actuator failures

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  • Hao Wu
  • Shicheng Huo
  • Ya Zhang

Abstract

This paper investigates the containment control problem for heterogeneous multi-agent systems with unknown leaders and actuator failures. The dynamics of the leaders are unavailable to all followers and the measurable information of leaders is available to some followers. A model-free adaptive observer for each follower is proposed to estimate the convex hull of the leaders states and the dynamic knowledge of the unknown leaders. The followers may be affected by the actuator failures. Based on the adaptive observer and the adaptive solution of the output regulation equation, an adaptive fault-tolerant control protocol is designed to mitigate the impact of actuator failure on containment performance such that the output containment errors are ultimately uniformly bounded. Two simulation examples are provided to demonstrate the feasibility of the presented control scheme.

Suggested Citation

  • Hao Wu & Shicheng Huo & Ya Zhang, 2024. "Adaptive containment control for heterogeneous MASs with unknown leaders and actuator failures," International Journal of Systems Science, Taylor & Francis Journals, vol. 55(15), pages 3143-3154, November.
  • Handle: RePEc:taf:tsysxx:v:55:y:2024:i:15:p:3143-3154
    DOI: 10.1080/00207721.2024.2364288
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