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| Finite-time fault-tolerant tracking control for multi-agent systems based on neural observer |
| JunzheCheng1,ShitongZhang1,QingWang1,2,BinXin1,2 |
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| (School of Automation, Beijing Institute of Technology, Beijing 100081, China;National Key Laboratory of Autonomous Intelligent Unmanned Systems, Beijing 100081, China) |
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| 摘要: |
| This paper investigates the consensus tracking control problem for high order nonlinear multi-agent systems subject to nonaffine faults, partial measurable states, uncertain control coefficients, and unknown external disturbances. Under the directed topology conditions, an observer-based finite-time control strategy based on adaptive backstepping and is proposed, in which a neural network-based state observer is employed to approximate the unmeasurable system state variables. To address the complexity explosion problem associated with the backstepping method, a finite-time command filter is incorporated, with error compensation signals designed to mitigate the filter-induced errors. Additionally, the Butterworth low-pass filter is introduced to avoid the algebraic ring problem in the design of the controller. The finite-time stability of the closed-loop system is rigorously analyzed with the finite-time Lyapunov stability criterion, validating that all closed-loop signals of the system remain bounded within a finite time. Finally, the effectiveness of the proposed control strategy is verified through a simulation example. |
| 关键词: Multi-agent systems · Command filtered backstepping · Finite-time control · Neural observer · Non-affine faults |
| DOI：https://doi.org/10.1007/s11768-025-00273-7 |
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| 基金项目:This work was supported in part by the Beijing Natural Science Foundation under Grant 4252050, in part by the National Science Fund for Distinguished Young Scholars under Grant 62425304, and in part by the Basic Science Center Programs of NSFC under Grant 62088101. |
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| Finite-time fault-tolerant tracking control for multi-agent systems based on neural observer |
| Junzhe Cheng1,Shitong Zhang1,Qing Wang1,2,Bin Xin1,2 |
| (School of Automation, Beijing Institute of Technology, Beijing 100081, China;National Key Laboratory of Autonomous Intelligent Unmanned Systems, Beijing 100081, China) |
| Abstract: |
| This paper investigates the consensus tracking control problem for high order nonlinear multi-agent systems subject to nonaffine faults, partial measurable states, uncertain control coefficients, and unknown external disturbances. Under the directed topology conditions, an observer-based finite-time control strategy based on adaptive backstepping and is proposed, in which a neural network-based state observer is employed to approximate the unmeasurable system state variables. To address the complexity explosion problem associated with the backstepping method, a finite-time command filter is incorporated, with error compensation signals designed to mitigate the filter-induced errors. Additionally, the Butterworth low-pass filter is introduced to avoid the algebraic ring problem in the design of the controller. The finite-time stability of the closed-loop system is rigorously analyzed with the finite-time Lyapunov stability criterion, validating that all closed-loop signals of the system remain bounded within a finite time. Finally, the effectiveness of the proposed control strategy is verified through a simulation example. |
| Key words: Multi-agent systems · Command filtered backstepping · Finite-time control · Neural observer · Non-affine faults |
