基于故障因子的多水下机器人系统容错一致性  

Failure-Factor-Based Fault-Tolerant Consensus for Multi-AUV Systems

作　　者：王康宇 李建宁[1] 陈扬杰 张帆 WANG Kang-yu;LI Jian-ning;CHEN Yang-jie;ZHANG Fan(School of Automation,Hangzhou Dianzi University,Hangzhou Zhejiang 310018,China)

机构地区：[1]杭州电子科技大学自动化学院,浙江杭州310018

出　　处：《计算机仿真》2024年第1期485-493,共9页Computer Simulation

基　　金：国家自然科学基金重点资助项目(61733009);浙江省自然科学基金重点项目(LZ22F030008)。

摘　　要：针对一类多水下机器人系统,考虑有向的拓扑结构和执行器部分失效故障,开展基于故障因子的容错一致性方法研究。首先根据故障的分布特性,引入故障因子,建立了一种新的部分失效故障模型。进而引入误差变量将一致性问题转化为系统的稳定性问题。基于所建故障模型,结合代数图论、线性矩阵不等式等方法,提出一类容错控制器的设计方法,实现了故障下多水下机器人系统的容错一致性。最后通过数值仿真验证了所提方法的有效性。This paper aimed to investigate the failure-factor-based fault-tolerant consensus problem for multiple Autonomous Underwater Vehicle(AUV)systems with directed topology.Firstly,according to the distribution characteristics of failures,a new partial failure model was established by introducing the fault factors.Furthermore,an error variable was given to transform the consensus problem into the stability problem.Based on the provided failure model,combined with algebraic graph theory and linear matrix inequality,a design method of the fault-tolerant controller was proposed,which realized the fault-tolerant consensus of faulty multi-AUV systems.Finally,the effectiveness of the proposed method was verified by a numerical simulation.

关 键 词：多水下机器人 执行器故障 容错控制 一致性 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]