Hybrid impulsive flocking control for multi-agent systems with fault tolerance

The problem of leader-following flocking control in multi-agent systems with complex dynamical networks using hybrid impulsive and pinning control techniques, along with fault tolerance, has been investigated. Specifically, these mechanisms efficiently reduce control resource consumption and transmission redundancy. Additionally, they address parametric uncertainties, actuator failure, and deception attacks to enhance overall network stability. Moreover, gyroscopic and braking forces are utilized for obstacle avoidance. By leveraging transmission topology structure and impulsive control theory, sufficient criteria are derived to allocate admissible error bounds for maintaining flocking stability. Finally, numerical simulations are conducted to validate the theoretical analysis.; more precisely, it results in a 19.46% decrease in control cost compared to mainstream continuous control structures, and the alternative collision avoidance component leads to a 20.88% reduction in average control distortion.