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BLS-based formation control for nonlinear multi-agent systems with actuator fault and input saturation

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Abstract

This paper studies the formation control of a nonlinear multi-agent system based on a broad learning system under actuator fault and input saturation. Firstly, the multi-agent tracking error is proposed based on graph theory. Besides, fault tolerance should be considered when actuator fault exists. Meanwhile, the broad learning system is put forward to approximate the unknown nonlinear function in the multi-agent system. Then, an input saturation auxiliary system is introduced to reduce the adverse effects of input saturation constraints. At the same time, the disturbance observer technology is used to estimate the actuator failure as a lumped uncertainty. At last, dynamic surface control is introduced to realize formation control with actuator fault and input saturation. Obviously, it is difficult to design a controller with unknown nonlinear function, input saturation, and actuator fault existing in the multi-agent system. The Lyapunov method can prove the stability of the formation control. The simulation results verify the effectiveness of the controller.

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All data included in this study are available upon request by contact with the corresponding author.

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Funding

This work was supported by the National Natural Science Foundation of China under Grant 62006192, Grant 62025602 Grant 61751202, Grant 61751205, Grant 61572540, Grants U1803263 and Grants 11931015.

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Authors and Affiliations

  1. School of Mechatronical Engineering, Northwestern Polytechnical University, Xi’an, 710072, Shaanxi, China

    Zhanwei Yang & Shengjin Li

  2. Unmanned System Research Institute, Northwestern Polytechnical University, Xi’an, 710072, Shaanxi, China

    Dengxiu Yu

  3. Faculty of Computer Science and Engineering, South China University of Technology, Guangzhou, 510006, Guangdong, China

    C. L. Philip Chen

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  1. Zhanwei Yang
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  2. Shengjin Li
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  3. Dengxiu Yu
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Correspondence to Dengxiu Yu.

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Yang, Z., Li, S., Yu, D. et al. BLS-based formation control for nonlinear multi-agent systems with actuator fault and input saturation. Nonlinear Dyn 109, 2657–2673 (2022). https://doi.org/10.1007/s11071-022-07505-4

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  • DOI: https://doi.org/10.1007/s11071-022-07505-4

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