一类线性多智能体系统的鲁棒H_(∞)事件触发容错控制  

Robust H∞Event-triggered Fault-tolerant Control for a Class of Linear Multi-agent Systems

作　　者：张云飞 武力兵[1] ZHANG Yunfei;WU Libing(School of Science,University of Science and Technology Liaoning,AnshanLiaoning 114051,China)

机构地区：[1]辽宁科技大学理学院,辽宁鞍山114051

出　　处：《兰州工业学院学报》2025年第2期94-101,共8页Journal of Lanzhou Institute of Technology

摘　　要：针对具有执行器故障、外部扰动以及参数不确定性的线性多智能体系统,研究其在有向通信网络下的鲁棒H_(∞)一致性控制问题,提出一种基于事件触发机制的容错控制方案。首先,利用Lyapunov稳定性理论和线性矩阵不等式(LMI)技术,并结合鲁棒H_(∞)控制理论,给出了系统实现一致性并满足期望H_(∞)性能的充分条件;同时,得到了可靠控制器的设计方法,有效地补偿了执行器故障对系统的影响;进一步,结合引入的指数项和新定义的测量误差来优化事件触发机制,在避免数据冗余的同时提高了计算和通信资源的利用效率,并证明了系统不存在Zeno现象;最后,通过仿真实例验证了所提方案的有效性。For linear multi-agent systems with actuator failures,external disturbances,and uncertain dynamics,the problem of robust H_(∞)consensus control under directed topology is investigated,and a fault-tolerant control scheme based on event-triggered mechanism is proposed.Firstly,using the Lyapunov stability theory and linear matrix inequality(LMI)technology,combined with robust H_(∞)control theory,some sufficient conditions for the system to achieve consensus and meet the desired H_(∞)performance are given;at the same time,the design method of reliable controller is obtained to effectively compensate for the effect of actuator failure on the system;furthermore,the event-triggered mechanism is optimized by combining the introduced exponential term and the newly defined measurement error,which improves the utilization efficiency of computing and communication resources while avoiding data redundancy,and proves that there is no Zeno phenomenon in the system;finally,a simulation example is given to verify the effectiveness of the proposed scheme.

关 键 词：多智能体系统 鲁棒H_(∞)一致性 有向拓扑 事件触发机制 容错控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]