基于相对输出信息的多智能体系统分布式故障检测  

Distributed fault detection of multi-agent system based on relative output information

作　　者：李俨 杨晨 LI Yan;YANG Chen(College of Electronic and Information Engineering,Tongji University,Shanghai 201804,China)

机构地区：[1]同济大学电子与信息工程学院,上海201804

出　　处：《控制与决策》2023年第7期1901-1908,共8页Control and Decision

基　　金：科技创新2030——“新一代人工智能”重大项目(2020AAA0108100);国家自然科学基金青年基金项目(62103304);上海市青年科技英才扬帆计划项目(21YF1450500);上海市市级科技重大专项(2021SHZDZX0100);上海市科研计划项目(19511132101).

摘　　要：针对一类邻居控制信息未知,且节点只能获得相对输出信息的多智能体系统,研究基于未知输入观测器的分布式故障检测问题,以实现节点对自身及邻居故障的实时检测.首先,通过对节点动力学模型进行分解与变换,构造出基于相对输出信息的故障检测参考模型,并给出未知输入观测器的存在性证明;接着,设计不依赖邻居节点控制信息的未知输入观测器,突破控制信息缺失导致观测器失效的理论难题;最后,借助未知输入观测器设计故障检测算法,并完成算法的分布式实现.仿真结果验证了所提方法的有效性与先进性.For a class of multi-agent systems where the control information of neighbor nodes is unknown and only local relative output information is available for each agent,the distributed fault detection problem based on the unknown input observers is investigated in this paper,and the real-time fault detection of agent itself and its neighbors is realized.Firstly,by decomposing and transforming the node dynamics,a reference model for fault detection based on the relative output information is constructed,and the existence of the unknown input observer is proved.Then,the unknown input observer that decoupled from the control information of neighbor nodes is designed,which breaks the limitation that the lack of control information may lead to the failure of the observer.Finally,the fault detection algorithm based on the unknown input observer is designed,and the distributed implementation of the algorithm is achieved.The simulation results validate the effectiveness and improvements of the proposed algorithm.

关 键 词：故障检测 多智能体系统 未知输入观测器 相对输出信息 参考模型 分布式算法 

分 类 号：TP277[自动化与计算机技术—检测技术与自动化装置]