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Human-in-the-Loop Consensus Control for Nonlinear Multi-Agent Systems With Actuator Faults
Guohuai Lin; Hongyi Li; Hui Ma; Deyin Yao; Renquan Lu
Source PublicationIEEE/CAA Journal of Automatica Sinica
ISSN2329-9266
2022
Volume9Issue:1Pages:111-122
AbstractThis paper considers the human-in-the-loop leader-following consensus control problem of multi-agent systems (MASs) with unknown matched nonlinear functions and actuator faults. It is assumed that a human operator controls the MASs via sending the command signal to a non-autonomous leader which generates the desired trajectory. Moreover, the leader’s input is nonzero and not available to all followers. By using neural networks and fault estimators to approximate unknown nonlinear dynamics and identify the actuator faults, respectively, the neighborhood observer-based neural fault-tolerant controller with dynamic coupling gains is designed. It is proved that the state of each follower can synchronize with the leader’s state under a directed graph and all signals in the closed-loop system are guaranteed to be cooperatively uniformly ultimately bounded. Finally, simulation results are presented for verifying the effectiveness of the proposed control method.
KeywordActuator faults distributed control human-in-the-loop neighborhood observer nonlinear multi-agent systems (MASs)
DOI10.1109/JAS.2020.1003596
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Cited Times:82[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/45978
Collection学术期刊_IEEE/CAA Journal of Automatica Sinica
Recommended Citation
GB/T 7714
Guohuai Lin,Hongyi Li,Hui Ma,et al. Human-in-the-Loop Consensus Control for Nonlinear Multi-Agent Systems With Actuator Faults[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(1):111-122.
APA Guohuai Lin,Hongyi Li,Hui Ma,Deyin Yao,&Renquan Lu.(2022).Human-in-the-Loop Consensus Control for Nonlinear Multi-Agent Systems With Actuator Faults.IEEE/CAA Journal of Automatica Sinica,9(1),111-122.
MLA Guohuai Lin,et al."Human-in-the-Loop Consensus Control for Nonlinear Multi-Agent Systems With Actuator Faults".IEEE/CAA Journal of Automatica Sinica 9.1(2022):111-122.
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