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Distributed Fault-Tolerant Control for Heterogeneous MAS with Prescribed Performance under Communication Failures

Yongkang Zhang, Bin Jiang, Yajie Ma

TL;DR

This work addresses formation control for a heterogeneous UAV-UGV multi-agent system under directed communication and link faults. It develops a distributed fault-tolerant scheme based on prescribed performance control, combining leader-state observers with a variable prescribed-performance boundary controller that accounts for actuator saturation. The approach guarantees prescribed transient and steady-state behavior for both leader estimation errors and local formation errors, even in the presence of faults in the communication topology and heterogeneity in agent dynamics. Simulation results on a mixed UAV-UGV team demonstrate robust leader tracking and polygonal formation maintenance under realistic faults, highlighting the method's practical robustness and applicability.

Abstract

This paper presents a novel approach employing prescribed performance control to address the distributed fault-tolerant formation control problem in a heterogeneous UAV-UGV cooperative system under a directed interaction topology and communication link failures. The proposed distributed fault-tolerant control scheme enables UAVs to accurately track a virtual leader's trajectory and achieve the desired formation, while ensuring UGVs converge within the convex hull formed by leader UAVs. By accounting for differences in system parameters and state dimensions between UAVs and UGVs, the method leverages performance functions to guarantee predefined transient and steady-state behavior. Additionally, a variable prescribed performance boundary control strategy with an adaptive learning rate is introduced to tackle actuator saturation, ensuring reliable formation tracking in real-world scenarios. Simulation results demonstrate the effectiveness and robustness of the proposed approach.

Distributed Fault-Tolerant Control for Heterogeneous MAS with Prescribed Performance under Communication Failures

TL;DR

This work addresses formation control for a heterogeneous UAV-UGV multi-agent system under directed communication and link faults. It develops a distributed fault-tolerant scheme based on prescribed performance control, combining leader-state observers with a variable prescribed-performance boundary controller that accounts for actuator saturation. The approach guarantees prescribed transient and steady-state behavior for both leader estimation errors and local formation errors, even in the presence of faults in the communication topology and heterogeneity in agent dynamics. Simulation results on a mixed UAV-UGV team demonstrate robust leader tracking and polygonal formation maintenance under realistic faults, highlighting the method's practical robustness and applicability.

Abstract

This paper presents a novel approach employing prescribed performance control to address the distributed fault-tolerant formation control problem in a heterogeneous UAV-UGV cooperative system under a directed interaction topology and communication link failures. The proposed distributed fault-tolerant control scheme enables UAVs to accurately track a virtual leader's trajectory and achieve the desired formation, while ensuring UGVs converge within the convex hull formed by leader UAVs. By accounting for differences in system parameters and state dimensions between UAVs and UGVs, the method leverages performance functions to guarantee predefined transient and steady-state behavior. Additionally, a variable prescribed performance boundary control strategy with an adaptive learning rate is introduced to tackle actuator saturation, ensuring reliable formation tracking in real-world scenarios. Simulation results demonstrate the effectiveness and robustness of the proposed approach.

Paper Structure

This paper contains 17 sections, 2 theorems, 62 equations, 10 figures.

Table of Contents

  1. Introduction
  2. Preliminaries and problem formulation
  3. Graph theory
  4. UAV and UGV Model
  5. Models of UAVs-UGVs systems
  6. Quadrotor UAV
  7. Two-Wheel Driven UGV Model
  8. Problem formulation
  9. Communication fault model
  10. Control objectives
  11. Main Results
  12. Prescribed Performance Fault-Tolerant distributed leader state observers
  13. Main Result for Distributed Controller Design
  14. Simulation Results
  15. Simulation Condition
  16. ...and 2 more sections

Key Result

Theorem 1

Suppose that Assumptions assumption:1-assumption:4 hold. If the distributed leader state observer is chosen as equ:observer, then all the estimated leader state errors $\xi$ satisfy the prescribed performance within a sufficiently small neighborhood converging to zero.

Figures (10)

  • Figure 1: Model of the $i$th UAV.
  • Figure 2: Model of the $i$th UGV.
  • Figure 3: Communication topology.
  • Figure 4: Trajectories of five leader UAVs and four follower UGVs in the XYZ plane.
  • Figure 5: Trajectories of five leader UAVs and four follower UGVs in the XY plane.
  • ...and 5 more figures

Theorems & Definitions (8)

  • Remark 1
  • Remark 2
  • Remark 3
  • Remark 4
  • Theorem 1
  • proof
  • Theorem 2
  • proof