Fault-Tolerant Control of Swarm Deployment: A PDE Approach
Yacun Guan, Hao Yang, Bin Jiang, Qiang Tang, Xianglun Zhang · IEEE Transactions on Control of Network Systems · 2022
This article proposes a partial differential equation (PDE)-based fault-tolerant control method for the swarm system where all agents can be deployed along the specified planar curves subject to communication link faults. First, a linear parabolic swarm system model with an unknown spatial-temporal varying parameter is established based on the regularity of the fault functions; second, two Lyapunov-based boundary adaptive controllers are designed to make the partial differential equation model track the desired planar trajectories, that are generated by the reference dynamic model with specified boundary inputs; finally, the uniformly bounded stability of the closed-loop system is rigorously proved by using the Lyapunov theory. Simulation results show the effectiveness of the proposed method.