Fault- Tolerant Multi-Agent Control Based on Asymmetric Communication Network
Wenduo Yu, Pengxiang Suo, Zongjin Guo, Guangyu Liu, Zuoxiang Zhang, Linjiang Deng · 2024
A new control strategy is proposed for managing multiple agents in a network where communication flows in both directions but may not be symmetrical. These agents might encounter problems where their actuators lose some effectiveness or suffer from bias faults. These faults can vary over time and may differ between agents. The strategy incorporates adaptive methods to handle information related to these faults effectively. Furthermore, it uses a technique called boundary layer construction to design controllers that operate smoothly, avoiding the jittery behavior that can occur with less refined control methods.