Resilience is to appraise the ability of disturbed systems to recover cooperative performance after suffering from failures or disturbances. In this paper, the improvement on the exponential tracking resilience for disturbed Euler–Lagrange systems is explored by settling the unknown time-variant faults imposed on the communication interaction between agents. First, we transform the resilient exponential tracking problem into designing the trajectory and velocity observers for leaders, and showcase that the proposed observers are resilient to communication interaction malfunctions. Second, a disturbance observer is manifested to estimate disturbances precisely, which is needless to know the upper bound of disturbance. The reliable observers and estimator are incorporated into the resilient tracking control frame. Further, the global exponential stabilization of the tracking systems is performed by utilizing the Lyapunov theory. Moreover, benefiting from feasible and reliable observation and estimation results, the proposed control framework enables to realize a satisfactory resilient exponential tracking performance even in the case of communication links faults (CLFs) and disturbances. Comprehensive studies are executed on a group of satellite systems, and the simulations results verify the effectiveness of the proposed resilient approaches in a time-variant tracking case.

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针对具有通信链路故障的受干扰系统的弹性指数跟踪

弹性是评估受干扰系统在遭受故障或干扰后恢复协作性能的能力。本文通过解决智能体之间通信交互上的未知时变故障，探索了受干扰的欧拉-拉格朗日系统指数跟踪弹性的改进。首先，我们将弹性指数跟踪问题转化为为领导者设计轨迹和速度观察器，并展示了所提出的观察器对通信交互故障的弹性。其次，扰动观测器可以精确地估计扰动，而无需知道扰动的上限。可靠的观测器和估计器被纳入弹性跟踪控制框架中。此外，跟踪系统的全局指数稳定是利用李雅普诺夫理论来实现的。此外，受益于可行且可靠的观测和估计结果，所提出的控制框架即使在通信链路故障（CLF）和干扰的情况下也能够实现令人满意的弹性指数跟踪性能。对一组卫星系统进行了全面的研究，模拟结果验证了所提出的弹性方法在时变跟踪情况下的有效性。