Model-Free Adaptive Fault-Tolerant Formation Control for Nonlinear MIMO Multiagent Systems Over Fading Channels
Qian Wang, Shangtai Jin, Zhi Weng, Yuteng Wang, Zhongsheng Hou · IEEE Transactions on Cybernetics · 2025
The actuator faults and channel fading are unavoidable in the nonlinear continuous-time MIMO multiagent systems (MASs), which significantly complicate the formation control problem. To tackle these challenges, a model-free adaptive fault-tolerant formation control (MFAFTFC) scheme based on the sampled-data full-form dynamic linearization (SD-FFDL) technology is proposed, which integrates the data-based formation control algorithm, the fuzzy neural network algorithm, and the projection algorithm. The stability analysis of MFAFTFC scheme is strictly provided. Simulation comparison results with unmanned ground vehicle demonstrate the effectiveness of the proposed MFAFTFC scheme, that is, the proposed MFAFTFC scheme can achieve the formation objective for the nonlinear continuous-time MIMO MASs subjected to actuator faults and fading channels.