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Robust Formation Control Based on Leader-Following Consensus in Multi-Agent Systems With Faults in the Information Exchange: Application in a Fleet of Unmanned Aerial Vehicles
- Source :
- IEEE Access, Vol 9, Pp 104940-104949 (2021)
- Publication Year :
- 2021
- Publisher :
- IEEE, 2021.
-
Abstract
- In this paper, a robust leader-following consensus protocol for multi-agent systems (MASs) subject to faults in the information exchange and disturbance is presented. The problem under consideration is to guarantee the convergence of the agent trajectories to a leader agent when all the agent followers are under faults in the information exchange as smooth time-varying delays and disturbances. The main contribution in this paper is the design of a robust leader-following control through the Lyapunov approach and an optimal $\mathscr {H}_{\infty }$ criterion such that all agents follow a virtual leader agent despite faults in the information exchange and disturbances. Linear matrix inequalities (LMIs)-based conditions are obtained whose solution allows computing the robust controller gain. In order to show the effectiveness of the proposed approach, numerical examples are carried out comparing a state-of-the-art approach and the proposed strategy in a fleet of unmanned aerial vehicles (UAVs) subject to wind turbulence which are shown to achieve the formation control.
Details
- Language :
- English
- ISSN :
- 21693536
- Volume :
- 9
- Database :
- Directory of Open Access Journals
- Journal :
- IEEE Access
- Publication Type :
- Academic Journal
- Accession number :
- edsdoj.bdec8f599dd9460c953b40ea7f07a672
- Document Type :
- article
- Full Text :
- https://doi.org/10.1109/ACCESS.2021.3098303