Hierarchical Fuzzy Adaptive Observer-Based Fault-Tolerant Consensus Tracking for High-Order Nonlinear Multi-Agent Systems Under Actuator and Sensor Faults
Lei Zhao, Shiming Chen · 2025
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Description
Lei Zhao and Shiming Chen published this paper in 2025. It designs a controller that keeps a team of agents moving together even when parts break. The agents follow a leader's path, but their motors and sensors can fail, and unknown pushes disturb them.
Their design stacks three layers of defense. A predictor for each follower estimates the leader's path, which stops faults from spreading across the team. An observer rebuilds hidden states and spots motor faults as they happen. A fuzzy adaptive controller then compensates for sensor faults step by step. Math checks show every signal stays bounded and the tracking error shrinks near zero. Simulated runs with several faults at once confirmed the scheme holds together. The work targets drone fleets, robot teams, and other grouped machines.
Catalog record
| CREATOR | Lei Zhao, Shiming Chen |
|---|---|
| YEAR | 2025 |
| COLLECTION | PAPERS |
| FORMAT | TXT |
| FILE SIZE | 39 KB |
| VERSION | 1.0 |
| LICENSE | CC BY 4.0 |
| RIGHTS | CC BY |
| SOURCE | Europe PMC |