Distributed adaptive cooperative control with fault compensation mechanism for heterogeneous multi-robot system

• Main Authors: Mohd. Subha, Nurul Adilla, Mahyuddin, Muhammad Nasiruddin
• Format: Article
• Language: English
• Published: Institute of Electrical and Electronics Engineers Inc. 2021
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/93954/1/NurulAdillaMohd2021_DistributedAdaptiveCooperativeControl.pdf; http://eprints.utm.my/id/eprint/93954/; http://dx.doi.org/10.1109/ACCESS.2021.3112571

In this paper, a distributed adaptive consensus law with fault compensation for a heterogeneous multi-robot system (MRS) is proposed. The design paradigm adopted in this work involves a leader-following cooperative algorithm featuring two distinct adaptive coupling gains to compensate for multiple a...