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Volume 10 Issue 5
May  2023

IEEE/CAA Journal of Automatica Sinica

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H. R. Ren, H. Ma, H. Y. Li, and  Z. Y. Wang,  “Adaptive fixed-time control of nonlinear MASs with actuator faults,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 5, pp. 1252–1262, May 2023. doi: 10.1109/JAS.2023.123558
Citation: H. R. Ren, H. Ma, H. Y. Li, and  Z. Y. Wang,  “Adaptive fixed-time control of nonlinear MASs with actuator faults,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 5, pp. 1252–1262, May 2023. doi: 10.1109/JAS.2023.123558

Adaptive Fixed-Time Control of Nonlinear MASs With Actuator Faults

doi: 10.1109/JAS.2023.123558
Funds:  This work was supported in part by the National Natural Science Foundation of China (62003093, 62203119, 62033003, 62121004), the China National Postdoctoral Program (BX20220095, 2022M710826), the Natural Science Foundation of Guangdong Province (2022A1515011506), and the Guangzhou Science and Technology Planning Project (202102020586)
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  • The adaptive fixed-time consensus problem for a class of nonlinear multi-agent systems (MASs) with actuator faults is considered in this paper. To approximate the unknown nonlinear functions in MASs, radial basis function neural networks are used. In addition, the first order sliding mode differentiator is utilized to solve the “explosion of complexity” problem, and a filter error compensation method is proposed to ensure the convergence of filter error in fixed time. With the help of the Nussbaum function, the actuator failure compensation mechanism is constructed. By designing the adaptive fixed-time controller, all signals in MASs are bounded, and the consensus errors between the leader and all followers converge to a small area of origin. Finally, the effectiveness of the proposed control method is verified by simulation examples.

     

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    Highlights

    • The adaptive fixed-time consensus problem for a class of nonlinear multi-agent systems (MASs) with actuator faults is considered in this paper. By designing the adaptive fixed-time controller, all signals in MASs are bounded, and the consensus errors between the leader and all followers converge to a small area of origin
    • The adaptive fixed-time stability criterion is extended to a more general class of nonlinear MASs with actuator faults. Compared with existing work results, this paper proposes a more helpful tool for solving the problem of approximation-based adaptive fixed-time control for nonlinear uncertain systems
    • A dynamic surface control method employing the sliding mode differentiator is used in this paper, it can avoid the tedious analytic computation and “explosion of complexity” problem simultaneously in the conventional backstepping method. Different from the filtering methods in existing work results, a filtering error compensation mechanism is proposed in this paper. Compared with the above compensation mechanisms, it not only makes the filtering errors bounded in fixed time, but also easier to design
    • In addition, an actuator failure model with gain fault, bias fault and unknown control direction is constructed, and the Nussbaum function is used to build the actuator fault compensation mechanism. The proposed control strategy ensures that all error signals in MASs are bounded and the consensus is achieved in fixed time

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