Finite-time fault-tolerant tracking control for multi-agent systems based on neural observer
Junzhe Cheng1
Shitong Zhang1
Qing Wang2
Bin Xin2
1.School of Automation,Beijing Institute of Technology,Beijing 100081,China2.School of Automation,Beijing Institute of Technology,Beijing 100081,China;National Key Laboratory of Autonomous Intelligent Unmanned Systems,Beijing 100081,China
摘要：This paper investigates the consensus tracking control problem for high order nonlinear multi-agent systems subject to non-affine 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.
机标关键词：multi-agentobserversystemscontrolbasedfault-tolerantfinite-timeneural
论文发表日期：2026-02-28
在线出版日期：2026-03-27（本平台首次上网日期，不代表文献的发表时间）
页数：14( 10-23 )
英文信息