考虑不确定性多智能体系统的分布式容错控制  

Distributed fault-tolerant control for multi-agent system considering uncertainties

作　　者：王艳丽 孙利娟[2] WANG Yanli;SUN Lijuan(School of Software,Henan University of Science and Technology,Luoyang 471003,China;School of Computer,Kaifeng Vocational College of Culture and Art,Kaifeng 475000,China)

机构地区：[1]河南科技大学软件学院,河南洛阳471003 [2]开封文化艺术职业学院计算机学院,河南开封475000

出　　处：《沈阳工业大学学报》2023年第5期582-586,共5页Journal of Shenyang University of Technology

基　　金：河南省高校科技创新团队计划项目(17IRTSTHN010);河南省中原科技创新领军人才项目(204200510021).

摘　　要：针对多智能体系统中存在的不确定性、参数摄动和执行器故障等问题,设计了分布式容错控制方法.建立了包含不确定性的多智能体系统乘性和加性故障数学模型,在领导者和领域内智能体状态量的基础上,通过引入参数自适应律和符号函数设计出分布式容错控制律,采用Lyapunov定理证明了设计的容错控制系统的稳定性.通过对无人机编队的仿真结果表明,所提控制方法与自适应协同容错控制方法相比表现出了更优的稳定性、准确性和快速性,速度和航迹角的最大误差分别仅为0.3 cm/s和0.1°,表现出了优良的容错性能.Aiming at the problems of uncertainty,parameter perturbation and actuator failure in multi-agent system,a distributed fault-tolerant control method was designed.A multiplicative and additive fault mathematical model considering uncertainties was established.Then a distributed fault-tolerant control law was designed by introducing the parameter adaptive law and the symbol function,according to the states of leader and neighbor agent.In addition,the stability of the as-designed fault-tolerant control system was proved by Lyapunov theorem.The simulation results of unmanned aerial vehicle formation show that the as-proposed control method has better stability,accuracy and rapidity than the adaptive cooperative fault-tolerant control method,and the maximum errors of velocity and track angle are only 0.3 cm/s and 0.1°,respectively,showing an excellent fault tolerance performance.

关 键 词：多智能体系统 不确定性 执行器故障 参数自适应律 分布式 容错控制律 符号函数 稳定性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]