Leader-Following-Based Optimal Fault-Tolerant Consensus Control for Air–Marine–Submarine Heterogeneous Systems
This paper mainly investigates the fault-tolerant consensus problem in heterogeneous multi-agent systems. Firstly, a control model of a leader–follower heterogeneous multi-agent system (HMAS) composed of multiple unmanned aerial vehicles (UAVs), multiple unmanned surface vehicles (USVs), and multipl...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-04-01
|
| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/13/5/878 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1849711482601734144 |
|---|---|
| author | Yandong Li Longqi Li Ling Zhu Zehua Zhang Yuan Guo |
| author_facet | Yandong Li Longqi Li Ling Zhu Zehua Zhang Yuan Guo |
| author_sort | Yandong Li |
| collection | DOAJ |
| description | This paper mainly investigates the fault-tolerant consensus problem in heterogeneous multi-agent systems. Firstly, a control model of a leader–follower heterogeneous multi-agent system (HMAS) composed of multiple unmanned aerial vehicles (UAVs), multiple unmanned surface vehicles (USVs), and multiple unmanned underwater vehicles (UUVs) is established. Then, for the fault-tolerant control (FTC) consensus problem of heterogeneous systems under partial actuator failures and interruption failures, an optimal FTC protocol for heterogeneous multi-agent systems based on the control allocation algorithm is designed. The derived optimal FTC protocol is applied to the heterogeneous system. The asymptotic stability of the protocol is proved by the Lyapunov stability theory. Finally, the effectiveness of the control strategy is verified through simulation tests. |
| format | Article |
| id | doaj-art-3ffcff564c3b4d25bfbddd695eea7bfb |
| institution | DOAJ |
| issn | 2077-1312 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-3ffcff564c3b4d25bfbddd695eea7bfb2025-08-20T03:14:36ZengMDPI AGJournal of Marine Science and Engineering2077-13122025-04-0113587810.3390/jmse13050878Leader-Following-Based Optimal Fault-Tolerant Consensus Control for Air–Marine–Submarine Heterogeneous SystemsYandong Li0Longqi Li1Ling Zhu2Zehua Zhang3Yuan Guo4College of Computer and Control Engineering, Qiqihar University, Qiqihar 161000, ChinaCollege of Computer and Control Engineering, Qiqihar University, Qiqihar 161000, ChinaSchool of Mechanical and Electronic Engineering, Qiqihar University, Qiqihar 161000, ChinaCollege of Computer and Control Engineering, Qiqihar University, Qiqihar 161000, ChinaSchool of Computer and Big Data College, Heilongjiang University, Harbin 150080, ChinaThis paper mainly investigates the fault-tolerant consensus problem in heterogeneous multi-agent systems. Firstly, a control model of a leader–follower heterogeneous multi-agent system (HMAS) composed of multiple unmanned aerial vehicles (UAVs), multiple unmanned surface vehicles (USVs), and multiple unmanned underwater vehicles (UUVs) is established. Then, for the fault-tolerant control (FTC) consensus problem of heterogeneous systems under partial actuator failures and interruption failures, an optimal FTC protocol for heterogeneous multi-agent systems based on the control allocation algorithm is designed. The derived optimal FTC protocol is applied to the heterogeneous system. The asymptotic stability of the protocol is proved by the Lyapunov stability theory. Finally, the effectiveness of the control strategy is verified through simulation tests.https://www.mdpi.com/2077-1312/13/5/878leader–followerheterogeneous system of UAVs-USVs-UUVsactuator faultoptimal controlcontrol allocation algorithmfault-tolerant control |
| spellingShingle | Yandong Li Longqi Li Ling Zhu Zehua Zhang Yuan Guo Leader-Following-Based Optimal Fault-Tolerant Consensus Control for Air–Marine–Submarine Heterogeneous Systems Journal of Marine Science and Engineering leader–follower heterogeneous system of UAVs-USVs-UUVs actuator fault optimal control control allocation algorithm fault-tolerant control |
| title | Leader-Following-Based Optimal Fault-Tolerant Consensus Control for Air–Marine–Submarine Heterogeneous Systems |
| title_full | Leader-Following-Based Optimal Fault-Tolerant Consensus Control for Air–Marine–Submarine Heterogeneous Systems |
| title_fullStr | Leader-Following-Based Optimal Fault-Tolerant Consensus Control for Air–Marine–Submarine Heterogeneous Systems |
| title_full_unstemmed | Leader-Following-Based Optimal Fault-Tolerant Consensus Control for Air–Marine–Submarine Heterogeneous Systems |
| title_short | Leader-Following-Based Optimal Fault-Tolerant Consensus Control for Air–Marine–Submarine Heterogeneous Systems |
| title_sort | leader following based optimal fault tolerant consensus control for air marine submarine heterogeneous systems |
| topic | leader–follower heterogeneous system of UAVs-USVs-UUVs actuator fault optimal control control allocation algorithm fault-tolerant control |
| url | https://www.mdpi.com/2077-1312/13/5/878 |
| work_keys_str_mv | AT yandongli leaderfollowingbasedoptimalfaulttolerantconsensuscontrolforairmarinesubmarineheterogeneoussystems AT longqili leaderfollowingbasedoptimalfaulttolerantconsensuscontrolforairmarinesubmarineheterogeneoussystems AT lingzhu leaderfollowingbasedoptimalfaulttolerantconsensuscontrolforairmarinesubmarineheterogeneoussystems AT zehuazhang leaderfollowingbasedoptimalfaulttolerantconsensuscontrolforairmarinesubmarineheterogeneoussystems AT yuanguo leaderfollowingbasedoptimalfaulttolerantconsensuscontrolforairmarinesubmarineheterogeneoussystems |