异构多智能体系统固定时间容错输出一致性研究  

Research on Fixed-Time Fault-Tolerant Output Consensus of Heterogeneous Multi-Agent

作　　者：王君[1] 杨嘉琦 WANG Jun;YANG Jiaqi(College of Electrical and Information Engineering,Lanzhou University of Technology,Lanzhou 730050)

机构地区：[1]兰州理工大学电气工程与信息工程学院,兰州730050

出　　处：《系统科学与数学》2024年第12期3491-3510,共20页Journal of Systems Science and Mathematical Sciences

基　　金：国家自然科学基金(61463030)资助课题。

摘　　要：针对存在外界有限能量干扰的异构故障多智能体系统容错输出一致性问题,文章提出了一种固定时间状态反馈控制与输出反馈控制相结合的容错输控制策略.首先设计自适应滑模观测器,使其在克服外界有限能量干扰的情况下,获取到执行器故障重构值;其次针对不能获取领导者状态的跟随者,设计分布式固定时间观测器,以实现每个跟随者在固定时间内估计到领导者状态;随之将故障重构值引入到分布式容错输出一致性控制协议中,并利用Lyapunov稳定性理论给出容错输出一致性控制增益的求解方法.最后,通过一个领导者和四个跟随者对异构多智能体系统固定时间容错输出一致性控制进行仿真实验,验证了所提方法的有效性和可行性.In this paper,a fault-tolerant control strategy combining fixed-time state feedback control and output feedback control is designed to realize the problem of heterogeneous fault multi-agent system fault-tolerant output consensus in the presence of external finite energy interference.Firstly,an adaptive sliding mode observer is proposed to obtain the fault reconstruction value of the actuator under the condition of overcoming the external limited energy interference.Secondly,for the followers who cannot obtain the leader state,a distributed fixed-time observer is designed to realize that each follower can estimate the leader state within a fixed time.Then,the fault reconstruction value is introduced into the distributed fault-tolerant output consensus control protocol.In addition,Lyapunov stability theory is used to solve the fault-tolerant output consensus control gain.Finally,a leader and four followers conduct simulation experiments on the fixed-time fault-tolerant output consensus control of heterogeneous multi-agent systems,which verifies the effectiveness and feasibility of the proposed method.

关 键 词：异构多智能体系统 自适应滑模观测器 分布式固定时间观测器 输出一致性控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]