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

Zhanwei Yang, Shengjin Li, Dengxiu Yu, C. L.Philip Chen

Research output: Contribution to journalArticlepeer-review

20 Scopus citations

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.

Original languageEnglish
Pages (from-to)2657-2673
Number of pages17
JournalNonlinear Dynamics
Volume109
Issue number4
DOIs
StatePublished - Sep 2022

Keywords

  • Actuator fault
  • Broad learning system
  • Dynamic surface control
  • Formation control
  • Input saturation

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