Distributed topology fault-tolerant time-varying formation control based on persistent topology optimization and reconfiguration

Aiming at the interaction topology fault tolerance problem of three-dimensional (3D) multi agent systems (MASs), the distributed optimal persistent interaction topology generation algorithm is studied, and an active fault-tolerant interaction topology control method is proposed. Considering the interaction quality and energy consumption, the weight function is designed and the distributed method is used to generate the optimal rigid interaction topology. According to the characteristics of persistent graph, the degree operation and path inverse operation of persistent graph are given. The rigid interaction topology is directed into persistent interaction topology, and the corresponding proof is given. A distributed topology optimization algorithm is raised to obtain the global optimal persistent interaction topology. Furthermore, an active interaction topology fault-tolerant control algorithm is proposed based on the time-varying formation (TVF) control under switching topology, and the effectiveness of the proposed algorithm is verified by simulation.