Distributed Formation Recovery Control of Heterogeneous Multiagent Euler–Lagrange Systems Subject to Network Switching and Diagnostic Imperfections

This brief is concerned with the design of distributed formation recovery control laws for nonlinear heterogeneous multiagent Euler-Lagrange (EL) systems that are simultaneously subject to: 1) diagnostic information imperfections and unreliabilities; 2) parametric uncertainties and external disturbances; and 3) random switching of communication network topologies. The proposed recovery control techniques ensure both state synchronization and set-point tracking of a team of multiagent systems, while the agents have access only to local information. Our results are obtained for both fixed and switching communication network topologies. Distributed control recovery solutions for a general class of nonlinear multiagent EL systems have not been investigated earlier in the literature under the above simultaneous three realistic scenarios. The simulation results for the attitude control of a network of eight spacecraft tasked in a formation flying mission subject to communication topology switching demonstrate the effectiveness and capabilities of our proposed distributed recovery control strategies.