Fault-Tolerant Optimal Consensus Control for Heterogeneous Multi-agent System

Yandong Li; Yongan Liu; Ling Zhu; Zehua Zhang

doi:10.20944/preprints202407.1332.v1

Preprint Article Version 1 This version is not peer-reviewed

Version 1 : Received: 16 July 2024 / Approved: 16 July 2024 / Online: 16 July 2024 (12:28:05 CEST)

This study explores fault-tolerant consensus in leader-following heterogeneous multi-agent systems, focusing on actuator failures in uncrewed aerial vehicles (UAVs) and uncrewed ground vehicles (UGVs). An optimization-based fault-tolerant consensus algorithm is proposed. The algorithm utilizes the Euler-Lagrange formula to ensure system consistency under actuator failures, with the Lyapunov stability theory proving the asymptotic stability of the consistency error. The algorithm is applied to heterogeneous multi-agent systems of UAVs and UGVs to derive optimal fault-tolerant consensus control laws for each vehicle type. Simulation experiments give evidence for the feasibility of the proposed control strategy.

uncrewed aerial vehicle; uncrewed ground vehicle; heterogeneous multi-agent system; actuator failures; consensus; Lyapunov stability theory; optimal method

Computer Science and Mathematics, Applied Mathematics

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Fault-Tolerant Optimal Consensus Control for Heterogeneous Multi-agent System

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