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Fault-tolerant control of random switching topology multi-agent system based on event triggering

Ouyang Lingcong, Yang Kaijun

TL;DR

The sample-based event triggering controller is introduced into the controller, which effectively reduces the communication frequency and reduces the impact of communication delay, and the stability and robustness of event-triggered random switching topology formation control are verified by computer simulation.

Abstract

In this paper, the formation control of multi-agent systems in random switching communication topology is studied, and the problem of excessive bandwidth and low control efficiency among multi-agents is solved. For nonlinear multi-agent systems, a sliding mode formation control algorithm with event-triggered random switching communication topology is proposed. Firstly, a fault-tolerant control strategy based on stochastic system model is designed to solve the problem of low controller efficiency and controller failure during the formation of multi-agent systems. Compared with the traditional multi-agent system dynamic model, the stochastic system model has stronger universality, which improves the efficiency of the controller. Secondly, in order to deal with the problem of high communication load and frequency between agents during formation in random switching communication topology, the sample-based event triggering controller is introduced into the controller, which effectively reduces the communication frequency and reduces the impact of communication delay. Finally, the stability and robustness of event-triggered random switching topology formation control are verified by computer simulation.

Fault-tolerant control of random switching topology multi-agent system based on event triggering

TL;DR

The sample-based event triggering controller is introduced into the controller, which effectively reduces the communication frequency and reduces the impact of communication delay, and the stability and robustness of event-triggered random switching topology formation control are verified by computer simulation.

Abstract

In this paper, the formation control of multi-agent systems in random switching communication topology is studied, and the problem of excessive bandwidth and low control efficiency among multi-agents is solved. For nonlinear multi-agent systems, a sliding mode formation control algorithm with event-triggered random switching communication topology is proposed. Firstly, a fault-tolerant control strategy based on stochastic system model is designed to solve the problem of low controller efficiency and controller failure during the formation of multi-agent systems. Compared with the traditional multi-agent system dynamic model, the stochastic system model has stronger universality, which improves the efficiency of the controller. Secondly, in order to deal with the problem of high communication load and frequency between agents during formation in random switching communication topology, the sample-based event triggering controller is introduced into the controller, which effectively reduces the communication frequency and reduces the impact of communication delay. Finally, the stability and robustness of event-triggered random switching topology formation control are verified by computer simulation.
Paper Structure (12 sections, 5 theorems, 78 equations, 8 figures)

This paper contains 12 sections, 5 theorems, 78 equations, 8 figures.

Table of Contents

  1. INTRODUCTION
  2. PROBLEM STATEMENT AND PRELIMINARIES
  3. Graph theory
  4. Markovian jump process
  5. Problem formulation
  6. MAIN RESULTS
  7. Switching surface design
  8. Sliding mode analysis
  9. SMC law design
  10. Event-triggered sliding mode analysis
  11. Simulation
  12. Conclusion

Key Result

lemma 1

For any vectors $X$ and $Y$, $Q> 0$ belongs to $\mathbb{R}^{n\times n}$. The following inequality holds

Figures (8)

  • Figure 1: Trajectory of the leader agent and follower agents
  • Figure 2: Agent event trigger situation
  • Figure 3: Control input of the follower agents in horizontal direction
  • Figure 4: Control input of the follower agents in vertical direction
  • Figure 5: Communication topology network number
  • ...and 3 more figures

Theorems & Definitions (12)

  • Definition 1
  • Definition 2
  • lemma 1
  • lemma 2
  • remark 1
  • theorem 1
  • proof 1
  • theorem 2
  • proof 2
  • remark 2
  • ...and 2 more