Hierarchical prescribed-time ESO-based fault-tolerant controller synthesis for error-constrained coordination of networked robotic systems

• Published in: Nonlinear dynamics Vol. 113; no. 4; pp. 3593 - 3609
• Main Authors: Zhao, Xiaofeng, Wang, Zhuping, Zhang, Hao, Yan, Huaicheng
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.02.2025; Springer Nature B.V
• Subjects: Actuators; Applications of Nonlinear Dynamics and Chaos Theory; Classical Mechanics; Control; Control algorithms; Controllers; Coordination; Dynamical Systems; Engineering; Error analysis; Fault tolerance; Physics; Physics and Astronomy; Robotics; Robust control; State observers; Statistical Physics and Dynamical Systems; Vibration; Networked robotic systems; Prescribed-time fault-tolerant control; Prescribed performance; Prescribed-time convergence
• ISSN: 0924-090X; 1573-269X
• DOI: 10.1007/s11071-024-10421-4

This paper investigates the prescribed-time coordination of networked robotic systems subject to complex unknowns including disturbances and actuator faults. A prescribed-time distributed estimator and extended state observer are proposed to acquire the leader’s information and complex unknowns, eliminating the need for prior knowledge of these unknowns and providing a promising approach for handling them within the prescribed time. To ensure the desired transient and steady-state responses, performance criteria are applied to coordination errors using a prescribed performance function. Subsequently, a hierarchical prescribed-time fault-tolerant control scheme is synthesized, consisting of a distributed estimator layer and a local control layer. The distinctive advantage of this hierarchical control scheme is that the coordination problem can be divided into two relatively simple sub-problems, namely coordination estimation and local robust tracking, easing control design and enhancing compatibility. Finally, simulation examples demonstrate the effectiveness of the theoretical results.