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Keywords = time-varying actuator fault directions

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17 pages, 1699 KiB  
Article
Adaptive Fixed-Time Safety Concurrent Control of Vehicular Platoons with Time-Varying Actuator Faults under Distance Constraints
by Wei Liu, Zhongyang Wei, Yuchen Liu and Zhenyu Gao
Mathematics 2024, 12(16), 2560; https://doi.org/10.3390/math12162560 - 19 Aug 2024
Cited by 2 | Viewed by 1052
Abstract
This paper investigates the fault-tolerant control problem for vehicular platoons with time-varying actuator fault directions and distance constraints. A bias constraint function is introduced to convert the asymmetric constraints into symmetric ones, based on which a unified barrier Lyapunov function (BLF) method is [...] Read more.
This paper investigates the fault-tolerant control problem for vehicular platoons with time-varying actuator fault directions and distance constraints. A bias constraint function is introduced to convert the asymmetric constraints into symmetric ones, based on which a unified barrier Lyapunov function (BLF) method is proposed to ensure distance constraints. Further, an adaptive fixed-time fault-tolerant controller in the context of a sliding mode control technique is proposed, wherein a new Nussbaum function is adopted to address the effects of unknown time-varying actuator fault directions. It is proved that both individual vehicle stability and string stability can all be guaranteed, and the effectiveness of the proposed algorithm is verified through numerical simulations. Full article
(This article belongs to the Section C2: Dynamical Systems)
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17 pages, 607 KiB  
Article
Iterative Learning Control for Actuator Fault Uncertain Systems
by Lei Wang, Liangxin Dong, Yiyang Chen, Keqing Wang and Feng Gao
Symmetry 2022, 14(10), 1969; https://doi.org/10.3390/sym14101969 - 21 Sep 2022
Cited by 6 | Viewed by 1610
Abstract
An iterative learning fault-tolerant control method is designed for an actuator fault intermittent process with simultaneous uncertainties for the system parameters. First, an intermittent fault tolerance controller is designed using 2D system theory, and the iterative learning control (ILC) intermittent process is transformed [...] Read more.
An iterative learning fault-tolerant control method is designed for an actuator fault intermittent process with simultaneous uncertainties for the system parameters. First, an intermittent fault tolerance controller is designed using 2D system theory, and the iterative learning control (ILC) intermittent process is transformed into a 2D Roesser model. Secondly, sufficient conditions for the controller’s existence are analyzed using the linear matrix inequality (LMI) technique, and the control gain matrices are obtained by convex optimization with LMI constraints. Under these conditions for all additive uncertainties for the system parameters and admissible failures, the controller can ensure closed-loop fault-tolerant performance in both the time and batch directions, and it can also meet the H∞ robust performance level against outside disturbances. Eventually, the algorithm’s computational complexity is analyzed, and the effectiveness of the algorithm is verified by simulation with respect to an injection molding machine model. Compared with traditional ILC laws, which do not consider actuator faults, the proposed algorithm has a better convergence speed and stability when the time-invariant and time-variant actuator faults occur during implementation. Full article
(This article belongs to the Section Engineering and Materials)
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20 pages, 948 KiB  
Article
Adaptive Fault-Tolerant Formation Control of Heterogeneous Multi-Agent Systems under Directed Communication Topology
by Shangkun Liu, Bin Jiang, Zehui Mao and Yajie Ma
Sensors 2022, 22(16), 6212; https://doi.org/10.3390/s22166212 - 18 Aug 2022
Cited by 12 | Viewed by 2627
Abstract
This paper investigates the adaptive fault-tolerant formation control scheme for heterogeneous multi-agent systems consisting of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) with actuator faults, parameter uncertainties and external disturbances under directed communication topology. Firstly, the dynamic models of UAVs and [...] Read more.
This paper investigates the adaptive fault-tolerant formation control scheme for heterogeneous multi-agent systems consisting of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) with actuator faults, parameter uncertainties and external disturbances under directed communication topology. Firstly, the dynamic models of UAVs and USVs are introduced, and a unified heterogeneous multi-agent system model with actuator faults is established. Then, a distributed fault-tolerant formation controller is proposed for the unified model of UAVs and USVs in the XY plane by using adaptive updating laws and radial basis function neural network. After that, a decentralized formation-tracking controller is designed for the altitude control system of UAVs. Based on the Lyapunov stability theory, it can be proved that the formation errors and tracking errors are uniformly ultimately bounded which means that the expected time-varying formation is achieved. Finally, a simulation study is given to demonstrate the effectiveness of the proposed scheme. Full article
(This article belongs to the Special Issue Security Control for a Cyber–Physical System and/or Multi-Agent System under Fault or Malicious Attack)
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