基于自适应滑模的多智能体系统容错一致性控制算法  

An Algorithm of Adaptive Sliding Mode Based Fault Tolerant Consensus Control for Multi-agent System

作　　者：葛志文 刘剑慰[1] 王一凡[1] GE Zhiwen;LIU Jianwei;WANG Yifan(Nanjing University of Aeronautics and Astronautics,Nanjing,Jiangsu 210000,China)

机构地区：[1]南京航空航天大学,江苏南京210000

出　　处：《控制与信息技术》2020年第5期1-6,11,共7页CONTROL AND INFORMATION TECHNOLOGY

基　　金：国家自然科学基金(61533008)。

摘　　要：针对同时存在外部干扰和执行器故障的多智能体系统,文章提出了一种基于自适应滑模的多智能体容错一致性算法。该算法基于有向网络拓扑结构描述多智能体间的信息交互,引入了基于积分滑模的不连续一致性控制方法;提出了基于自适应滑模的容错一致性控制方案,可解决系统运行中受到的外部干扰问题、执行器故障问题以及不连续控制带来的抖振问题。通过在一个领航者和4个跟随者组成的多智能体系统中进行数值仿真与对比,证实了所提算法的有效性和优越性,相比传统算法,其具有更快的误差收敛速度和更优的容错控制效果。It presented an algorithm of adaptive sliding mode based fault tolerant consensus control for multi-agent systems in the presence of external disturbances and actuator faults simultaneously.Firstly,a directed network topology is introduced to describe the information exchange among multi-agent.Secondly,a discontinuous control protocol based on integral sliding mode is introduced.Then,an adaptive sliding mode fault tolerant consensus control scheme is designed to deal with external disturbance,actuator fault and chattering problem caused by discontinuous control.Effectiveness and superiority of the proposed scheme was demonstrated by the numerical simulation results based on a multi-agent system with a leader and four followers,which has faster error convergence rate and better tolerant control effect compared with the traditional algorithm.

关 键 词：自适应滑模 容错一致性 多智能体系统 执行器故障 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]