Leader-Following-Based Optimal Fault-Tolerant Consensus Control for Air–Marine–Submarine Heterogeneous Systems
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| Titel: | Leader-Following-Based Optimal Fault-Tolerant Consensus Control for Air–Marine–Submarine Heterogeneous Systems |
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| Autoren: | Yandong Li, Longqi Li, Ling Zhu, Zehua Zhang, Yuan Guo |
| Quelle: | Journal of Marine Science and Engineering, Vol 13, Iss 5, p 878 (2025) |
| Verlagsinformationen: | MDPI AG, 2025. |
| Publikationsjahr: | 2025 |
| Bestand: | LCC:Naval architecture. Shipbuilding. Marine engineering LCC:Oceanography |
| Schlagwörter: | leader–follower, heterogeneous system of UAVs-USVs-UUVs, actuator fault, optimal control, control allocation algorithm, fault-tolerant control, Naval architecture. Shipbuilding. Marine engineering, VM1-989, Oceanography, GC1-1581 |
| Beschreibung: | This paper mainly investigates the fault-tolerant consensus problem in heterogeneous multi-agent systems. Firstly, a control model of a leader–follower heterogeneous multi-agent system (HMAS) composed of multiple unmanned aerial vehicles (UAVs), multiple unmanned surface vehicles (USVs), and multiple unmanned underwater vehicles (UUVs) is established. Then, for the fault-tolerant control (FTC) consensus problem of heterogeneous systems under partial actuator failures and interruption failures, an optimal FTC protocol for heterogeneous multi-agent systems based on the control allocation algorithm is designed. The derived optimal FTC protocol is applied to the heterogeneous system. The asymptotic stability of the protocol is proved by the Lyapunov stability theory. Finally, the effectiveness of the control strategy is verified through simulation tests. |
| Publikationsart: | article |
| Dateibeschreibung: | electronic resource |
| Sprache: | English |
| ISSN: | 2077-1312 |
| Relation: | https://www.mdpi.com/2077-1312/13/5/878; https://doaj.org/toc/2077-1312 |
| DOI: | 10.3390/jmse13050878 |
| Zugangs-URL: | https://doaj.org/article/3ffcff564c3b4d25bfbddd695eea7bfb |
| Dokumentencode: | edsdoj.3ffcff564c3b4d25bfbddd695eea7bfb |
| Datenbank: | Directory of Open Access Journals |
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Nájsť tento článok vo Web of Science | Abstract: | This paper mainly investigates the fault-tolerant consensus problem in heterogeneous multi-agent systems. Firstly, a control model of a leader–follower heterogeneous multi-agent system (HMAS) composed of multiple unmanned aerial vehicles (UAVs), multiple unmanned surface vehicles (USVs), and multiple unmanned underwater vehicles (UUVs) is established. Then, for the fault-tolerant control (FTC) consensus problem of heterogeneous systems under partial actuator failures and interruption failures, an optimal FTC protocol for heterogeneous multi-agent systems based on the control allocation algorithm is designed. The derived optimal FTC protocol is applied to the heterogeneous system. The asymptotic stability of the protocol is proved by the Lyapunov stability theory. Finally, the effectiveness of the control strategy is verified through simulation tests. |
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| ISSN: | 20771312 |
| DOI: | 10.3390/jmse13050878 |