模型不确定多智能体系统的鲁棒H_(∞)容错一致性控制  

Robust H_(∞) Fault-Tolerant Consensus Control of Multi-Agent Systems with Model Uncertainties

作　　者：王君[1] 杨荣连 WANG Jun;YANG Rong-lian(College of Electrical and Information Engineering,Lanzhou University of Technology,Lanzhou 730050,China)

机构地区：[1]兰州理工大学电气工程与信息工程学院,甘肃兰州730050

出　　处：《测控技术》2022年第3期84-89,共6页Measurement & Control Technology

基　　金：国家自然科学基金资助项目(61463030)。

摘　　要：针对具有模型不确定性的多智能体系统,考虑到任意智能体可能发生的执行器故障以及受到外界能量有限干扰,研究了鲁棒H_(∞)容错一致性控制的设计问题。首先,引入鲁棒二次稳定法处理多智能体系统建模中存在的模型不确定性;其次,利用LMI技术及Lyapunov稳定性理论等,对于任意智能体可能发生的执行器故障,设计了鲁棒H_(∞)被动容错控制器,使得模型不确定多智能体系统存在外界能量有限干扰时,在所设计的分布式控制协议下位置与速度状态趋于一致,且具有一定的扰动抑制性能。最后,通过MATLAB仿真验证了所提方法的有效性和可行性。For multi-agent systems with model uncertainties,the design of robust H_(∞) fault-tolerant consensus control is studied considering the possible actuator failures of any agents and the external finite energy disturbance.Firstly,the robust quadratic stability method is introduced to deal with model uncertainties in multi-agent system modeling.Secondly,by using LMI technique and Lyapunov stability theory,a robust passive H_(∞) fault-tolerant controller is designed for any actuator fault that may occur in the model uncertainties multi-agent system,which makes the position and velocity state of the model uncertainties multi-agent system tend to be consistent under the designed distributed control protocol and has a certain disturbance rejection performance.Finally,the effectiveness and feasibility of the proposed method are verified by MATLAB simulation.

关 键 词：模型不确定 多智能体系统(MAS) 被动容错 鲁H_(∞)容错 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]