Distributed adaptive neural network control for a class of heterogeneous nonlinear multi-agent systems subject to actuation failures. Issue 3 (17th February 2017)

• Record Type: Journal Article
• Authors: Cui, Bing; Zhao, Chunhui; Ma, Tiedong; Feng, Chi
• Is Part Of: International journal of systems science. Volume 48:Issue 3(2017)
• Page Start: 559
• Page End: 570
• Publication Date: 2017-02-17
• Subjects: Nonlinear multi-agent system -- actuation failures -- distributed neural network control -- adaptive control; System analysis -- Periodicals; 003.3
• DOI: 10.1080/00207721.2016.1193257
• Languages: English
• ISSNs: 0020-7721

Abstract

ABSTRACT: In this paper, the cooperative adaptive consensus tracking problem for heterogeneous nonlinear multi-agent systems on directed graph is addressed. Each follower is modelled as a general nonlinear system with the unknown and nonidentical nonlinear dynamics, disturbances and actuator failures. Cooperative fault tolerant neural network tracking controllers with online adaptive learning features are proposed to guarantee that all agents synchronise to the trajectory of one leader with bounded adjustable synchronisation errors. With the help of linear quadratic regulator-based optimal design, a graph-dependent Lyapunov proof provides error bounds that depend on the graph topology, one virtual matrix and some design parameters. Of particular interest is that if the control gain is selected appropriately, the proposed control scheme can be implemented in a unified framework no matter whether there are faults or not. Furthermore, the fault detection and isolation are not needed to implement. Finally, a simulation is given to verify the effectiveness of the proposed method.