基于DEMATEL-ANP的回溯容错控制  

DEMATEL-ANP based retrospective fault-tolerant control

作　　者：王康宇 李建宁[1] 陈扬杰 张帆 熊举 WANG Kang-yu;LI Jian-ning;CHEN Yang-jie;ZHANG Fan;XIONG Ju(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：《控制理论与应用》2024年第10期1853-1862,共10页Control Theory & Applications

基　　金：浙江省自然科学基金重点项目(LZ22F030008);国家自然科学基金重点项目(61733009);浙江省属高校基本科研业务费专项资金(GK229909299001–012)资助.

摘　　要：本文针对一类具有拓扑结构切换、时变时延及执行器故障的多水下机器人系统,开展了一类基于决策实验室–网络层次分析法(DEMATEL-ANP)的回溯容错控制方法研究.首先,利用故障历史信息,结合DEMATEL-ANP溯源故障分布特性,提出溯源故障分布因子,基于此构造了一类满足分布特性随机故障模型.其次,将拓扑结构切换问题转化为一类拓扑结构不确定性问题,结合所提随机故障模型,构造Lyapunov-Krasovskii函数,得到回溯容错控制器的设计方法,实现了拓扑结构切换下故障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.In this paper,a retrospective fault-tolerant control method is developed for a class of multiple autonomous underwater vehicle(AUV)systems with topology switching,time-varying delay and actuator failure.Firstly,using the fault history information and the decision making trial and evaluation laboratory-analysis network process(DEMATEL-ANP)algorithm,we propose a retrospective fault distribution factor and construct a stochastic fault model based on it to satisfy the distribution properties.Furthermore,the topology switching problem is transformed into a class of topology uncertainty problems,and the proposed stochastic fault model is combined with the Lyapunov-Krasovskii function to obtain the design method of the retrospective fault-tolerant controller,which achieves the fault-tolerance consensus of the underwater robot system with topology switching.Finally,the effectiveness of the proposed method is verified by a numerical simulation.

关 键 词：多水下机器人系统 DEMATEL-ANP方法 容错控制 时变时延 切换拓扑 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]